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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.

Download Information

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). pdf

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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