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

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.

• Type: Conference
• Year: 2003
• Where: IJCAI
• Authors: Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit
• Keywords: Algorithm Called Fastslam, IJCAI 2003, IJCAI 2007, Original Algorithm, Original Fastslam Algorithm