Sebastian Thrun, Michael Montemerlo, Daphne Koller, Ben Wegbreit, Juan Nieto, Eduardo Nebot  Home/Search
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Abstract: This article provides a comprehensive description of FastSLAM, a new family of algorithms for the simultaneous localization and mapping problem, which specifically address hard data association problems. The algorithm uses a particle filter for sampling robot paths, and extended Kalman filters for representing maps acquired by the vehicle. This article presents two variants of this algorithm, the original algorithm along with a more recent variant that provides improved performance in... (Update)
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BibTeX entry: (Update)
S. Thrun, M. Montemerlo, D. Koller, B. Wegbreit, J. Nieto, and E. Nebot, "FastSLAM: An efficient solution to the simultaneous localization and mapping problem with unknown data association," Journal of Machine Learning Research, 2004 (in press). http://citeseer.ist.psu.edu/thrun04fastslam.html More
@misc{ thrun04fastslam,
author = "S. Thrun and M. Montemerlo and D. Koller and B. Wegbreit and J. Nieto and
E. Nebot",
title = "FastSLAM: An efficient solution to the simultaneous localization and mapping
problem with unknown data association",
text = "S. Thrun, M. Montemerlo, D. Koller, B. Wegbreit, J. Nieto, and E. Nebot,
FastSLAM: An efficient solution to the simultaneous localization and mapping
problem with unknown data association, Journal of Machine Learning Research,
2004 (in press).",
year = "2004",
url = "citeseer.ist.psu.edu/thrun04fastslam.html" }
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