A framework for simultaneous localization and mapping utilizing model structure

  title={A framework for simultaneous localization and mapping utilizing model structure},
  author={Thomas B. Sch{\"o}n and Rickard Karlsson and David T{\"o}rnqvist and Fredrik Gustafsson},
  journal={2007 10th International Conference on Information Fusion},
This contribution aims at unifying two trends in applied particle filtering (PF). The first trend is the major impact in simultaneous localization and mapping (slam) applications, utilizing the FastSLAM algorithm. The second one is the implications of the marginalized particle filter (MPF) or the Rao-Blackwellized particle filter (RBPF) in positioning and tracking applications. An algorithm is introduced, which merges FastSLAM and MPF, and the result is an MPF algorithm for slam applications… CONTINUE READING
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