ML Anthology

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

Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit
IJCAI 2003 pp. 1151-1156
/ijcai/2003/montemerlo2003ijcai-fastslam/

Abstract

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 that 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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Text

Montemerlo et al. "FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping That Provably Converges." International Joint Conference on Artificial Intelligence, 2003.

Markdown

[Montemerlo et al. "FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping That Provably Converges." International Joint Conference on Artificial Intelligence, 2003.](https://mlanthology.org/ijcai/2003/montemerlo2003ijcai-fastslam/)

BibTeX

@inproceedings{montemerlo2003ijcai-fastslam,
  title     = {{FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping That Provably Converges}},
  author    = {Montemerlo, Michael and Thrun, Sebastian and Koller, Daphne and Wegbreit, Ben},
  booktitle = {International Joint Conference on Artificial Intelligence},
  year      = {2003},
  pages     = {1151-1156},
  url       = {https://mlanthology.org/ijcai/2003/montemerlo2003ijcai-fastslam/}
}