In <a
href="http://ai.stanford.edu/~koller/Paperse/Montemerlo+al:AAAI02.abs">recent
work</a>, Montemerlo et al. proposed an algorithm called FastSLAM as an
efficient and robust solution to the simultaneous localization and mapping
problem. This paper describes a modified version of FastSLAM which overcomes
important deficiencies of the original algorithm. We prove convergence of
this new algorithm for linear SLAM problems and provide real-world
experimental results that illustrate an order of magnitude improvement in
accuracy over the original FastSLAM algorithm.