Lecture #5 looked at maps and mapping.
The notes from the class come in two formats.
The lecture covered material from Chapter 5 of the textbook, Sections 5.5 and 5.8. You should read this if you have the textbook (the textbook covers much more than we had time to look at in the lecture).
This is one of the original papers on occupancy grids:
A. Elfes Using occupancy grids for mobile robot perception and navigation, IEEE Computer, June 1989.
A nice pair of introductory articles on SLAM are:
H. Durrant-Whyte and T. Bailey, Simultaneous localisation and mapping (SLAM): Part I the essential algorithms, Robotics & Automation Magazine, June 2006.and
T. Bailey and H. Durrant-Whyte, Simultaneous localisation and mapping (SLAM): Part II state of the art, Robotics & Automation Magazine, September 2006.