FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges

Abstract

Proceedings of IJCAI 2003 In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM which overcomes important deficiencies of the original algorithm. We prove convergence of this new algorithm for linear SLAM problems and provide real-world experimental results that illustrate an order of magnitude improvement in accuracy over the original FastSLAM algorithm.

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@inproceedings{Montemerlo2003FastSLAM2A, title={FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges}, author={Michael Montemerlo and Sebastian Thrun and Daphne Koller and Ben Wegbreit}, booktitle={IJCAI}, year={2003} }