FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges

Authors:
Michael Montemerlo;Sebastian Thrun;Daphne Roller;Ben Wegbreit
Affiliations:
School of Computer Science, Carnegie Mellon University, Pittsburgh, PA;School of Computer Science, Carnegie Mellon University, Pittsburgh, PA;Computer Science Department, Stanford University, Stanford, CA;Computer Science Department, Stanford University, Stanford, CA
Venue:
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Year:
2003

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Abstract

Speculative execution of information gathering plans can dramatically reduce the effect of source I/O latencies on overall performance. However, the utility of speculation is closely tied to how accurately data values are predicted at runtime. Caching ...