Reformation of Particle Filters in Simultaneous Localization And Mapping Problems

Abstract

SLAM is a hot topic in robotics community. It uses range sensors and aquires the distances to various directions as the sensor moves and changes its direction, so that it can acquire the environmental landscape and estimate the sensor's position/angle simultaneously. In this paper, we will explain the detail of FastSLAM by Montemerlo, and propose a modification of the algorithm.