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

Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit

Abstract: Proceedings of IJCAI 2003 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 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 in accuracy over the original FastSLAM algorithm.