A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms

Abstract

This study aims to contribute a comparison of various simultaneous localization and mapping (SLAM) algorithms that have been proposed in literature. The performance of Extended Kalman Filter (EKF) SLAM, Unscented Kalman Filter (UKF) SLAM, EKF-based FastSLAM version 2.0, and UKF-based FastSLAM (uFastSLAM) algorithms are compared in terms of accuracy of state estimations for localization of a robot and mapping of its environment. The algorithms were run using the same type of robot on Player/Stage environment. The results show that the UKF-based FastSLAM has the best performance in terms of accuracy of localization and mapping. Unlike most of the previous applications of FastSLAM in literature, no waypoints are used in this study.