{"type":"ScholarlyArticle","title":"FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges","authors":[{"name":"Michael Montemerlo","slug":"michael-montemerlo","given":"Michael","family":"Montemerlo","affiliation":""},{"name":"Sebastian Thrun","slug":"sebastian-thrun","given":"Sebastian","family":"Thrun","affiliation":""},{"name":"Daphne Koller","slug":"daphne-koller","given":"Daphne","family":"Koller","affiliation":""},{"name":"Ben Wegbreit","slug":"ben-wegbreit","given":"Ben","family":"Wegbreit","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/2003/164","pdf":"https://ijcai.org/proceedings/2003/0164.pdf","markdown":"https://ijcai.org/proceedings/2003/164.md","bibtex":"https://ijcai.org/proceedings/2003/bibtex/164","volume":{"slug":"2003","title":"Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2003","url":"https://ijcai.org/proceedings/2003/","year":2003,"location":"Acapulco, Mexico","dates":"","editors":"Georg Gottlob","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":164,"pages":{"first":1151,"last":1155},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}