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 inaccuracy over the original FastSLAM algorithm.

FastSLAM 2.0 An Improved Particle Filtering Algorithm for Simultaneous.pdf

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