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FastSLAM: A Factored Solution to the Simultaneous ...

FastSLAM: A FactoredSolutiontotheSimultaneousLocaliz ationandMappingProblemMichaelMontemerloa ndSebastianThrunSchoolofComputerScienceC arnegieMellonUniversityPittsburgh,PA robotandac-curatelymapitssurroundingsis consideredbymany tobea key , few approachestothisproblemscaleuptohandleth everylargenumberoflandmarkspresentin ,forexample,requiretimequadraticin thenumberoflandmarksto ,analgorithmthatrecursivelyestimatesthef ullposteriordistributionoverrobotposeand landmarklocations,yetscaleslogarithmical lywiththenumberoflandmarksin basedonanex-actfactorizationoftheposteri orintoa productofcon-ditionallandmarkdistributio nsanda as50,000landmarks, , alsoknownasSLAM,hasattractedimmenseatten tionin mapofanenvironmentfroma sequenceofland-markmeasurementsobtainedf roma subjectto error, themappingproblemneces-sarilyinducesa robotlocalizationproblem robotandaccuratelymapitsenvironmentis consideredbymany tobea key prerequisiteoftrulyautonomousrobots[3,7, 15].

FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem Michael Montemerlo and Sebastian Thrun ... as a recent tutorial paper [2] documents. Recent research has focused on scal- ... the SLAM problem into a robot localization problem, and a

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