My home page
Biography
Research
Publications
My group
Courses
Professional activities
FAQ
Personal
Papers

Daphne Koller Publications

FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem (2002)

by M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit


Abstract: The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-based algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number of landmarks in the map. This algorithm is based on an exact factorization of the posterior into a product of conditional landmark distributions and a distribution over robot paths. The algorithm has been run successfully on as many as 50,000 landmarks, environments far beyond the reach of previous approaches. Experimental results demonstrate the advantages and limitations of the FastSLAM algorithm on both simulated and realworld data.

Download Information

M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit (2002). "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem." Proceedings of the 18th National Conference on Artificial Intelligence (AAAI) (pp. 593-598). pdf

Bibtex citation

@inproceedings{Montemerlo+al:AAAI02,
  title = {FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping
   Problem},
  author = {M. Montemerlo and S. Thrun and D. Koller and B. Wegbreit},
  booktitle = {Proceedings of the 18th National Conference on Artificial Intelligence (AAAI)}, 
  month = {July},
  year = 2002, 
  pages = {593--598},
}

full list
Click to go to robotics Click to go to theory Click to go to CS Stanford Click to go to Stanford's Webpage
home | biography | research | papers | my group
courses | professional activities | FAQ | personal