FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges.
Michael MontemerloSebastian ThrunDaphne KollerBen WegbreitPublished in: IJCAI (2003)
Keyphrases
- simultaneous localization and mapping
- particle filter
- kalman filter
- mobile robot
- particle filtering
- data association
- visual slam
- object tracking
- dynamic environments
- information filter
- mobile robotics
- visual odometry
- detection and tracking of moving objects
- loop closing
- robot navigation
- motion model
- visual tracking
- mean shift
- appearance model
- indoor environments
- state space
- optimal solution
- topological map
- motion parameters
- multiple objects
- learning algorithm
- image processing