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IJCAI
2003

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

11 years 29 days ago
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.
Michael Montemerlo, Sebastian Thrun, Daphne Koller
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2003
Where IJCAI
Authors Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit
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