FastSLAM: An efficient solution to the simultaneous localization and mapping problem with unknown

This article provides a comprehensive description of FastSLAM, a new family of algorithms for the simultaneous localization and mapping problem, which specifically address hard data association problems. The algorithm uses a particle filter for sampling robot paths, and extended Kalman filters for representing maps acquired by the vehicle. This article presents two variants of this algorithm, the original algorithm along with a more recent variant that provides improved performance in certain operating regimes. In addition to a mathematical derivation of the new algorithm, we present a proof of convergence and experimental results on its performance on real-world data.