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

Montemerlo, Michael; Thrun, Sebastian; Koller, Daphne; Wegbreit, Ben

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

Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit

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Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence. Pages 1151-1155.

Abstract

In [15], Montemerlo eta!. proposed an algorithm called Fa s tSLAM 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.

Michael Montemerlo, Sebastian Thrun, Daphne Koller, and Ben Wegbreit. 2003. FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges. In Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence, IJCAI-03. IJCAI, 1151–1155. https://ijcai.org/proceedings/2003/164

@inproceedings{ijcai2003p164,
  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 = {Proceedings of the Eighteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-03}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Georg Gottlob},
  pages     = {1151--1155},
  year      = {2003},
  url       = {https://ijcai.org/proceedings/2003/164},
}

TY  - CPAPER
TI  - FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges
AU  - Montemerlo, Michael
AU  - Thrun, Sebastian
AU  - Koller, Daphne
AU  - Wegbreit, Ben
T2  - Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence, IJCAI-03
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2003
SP  - 1151
EP  - 1155
UR  - https://ijcai.org/proceedings/2003/164
ER  -