---
title: "FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges"
authors:
  - "Michael Montemerlo"
  - "Sebastian Thrun"
  - "Daphne Koller"
  - "Ben Wegbreit"
doi: ""
url: "https://ijcai.org/proceedings/2003/164"
pdf: "https://ijcai.org/proceedings/2003/0164.pdf"
venue: "Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence"
year: 2003
pages: "1151-1155"
track: ""
keywords:
---

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

Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit

*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.