Daphne Koller

Papers

Daphne Koller Publications

FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that provably converges (2003)

by M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit

Abstract: In recent work, 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.

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M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit (2003). "FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that provably converges." Eighteenth International Joint Conference on Artificial Intelligence (IJCAI).

Bibtex citation

@inproceedings{Montemerlo+al:IJCAI03,
  title = {{FastSLAM} 2.0: {A}n Improved Particle Filtering Algorithm for Simultaneous
        Localization and Mapping that provably converges}, 
  author = {M. Montemerlo and S. Thrun and D. Koller and B. Wegbreit},
  booktitle = {Eighteenth International Joint Conference on Artificial Intelligence (IJCAI)}, 
  address = {Acapulco, Mexico},
  month = {August},
  year = 2003, 
}

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