FastSLAM swMATH ID: 13538 Software Authors: Montemerlo M, Thrun S, Koller D, Wegbreit B Description: FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem. 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 real-world data. Homepage: http://ai.stanford.edu/~koller/Papers/Montemerlo+al:AAAI02.pdf Keywords: robotics; computer vision; image processing; mobile robots; arm-type robots; image feature extraction Related Software: MonoSLAM; SIFT; SURF; DTAM; ORB-SLAM2; ORB-SLAM; SVO; LSD-SLAM; KITTI; Radish; PCA-SIFT; Matlab; Figaro; Pyro; BioNetGen; FACTORIE; Church; SeqSLAM; maplab; VINS-Mono Cited in: 47 Documents Standard Articles 2 Publications describing the Software, including 2 Publications in zbMATH Year Robotics, vision and control. Fundamental algorithms in MATLAB. Zbl 1233.68001Corke, Peter 2011 FastSLAM. A scalable method for the simultaneous localization and mapping problem in robotics. Zbl 1197.93115Montemerlo, Michael; Thrun, Sebastian 2007 all top 5 Cited by 137 Authors 3 Fox, Dieter 2 Clemens, Joachim 2 LaValle, Steven M. 2 Matía, Fernando 2 Milford, Michael John 2 Pedraza, Luis F. 2 Rodríguez-Losada, Diego 2 Thrun, Sebastian 2 Tovar, Benjamín 1 Abdallah, Fahed 1 Ahmad, Hamzah 1 Aouf, Nabil 1 Arseniev, Dmitry G. 1 Asl, Hamed Jabbari 1 Bajracharya, Max 1 Beevers, Kristopher R. 1 Berkovskii, N. A. 1 Bloch, Isabelle 1 Bonnifait, Philippe 1 Borriello, Gaetano 1 Bowling, Michael 1 Brunette, Waylon 1 Caro, Luis Fernando 1 Cohen, Frederick Ronald 1 Corke, Peter I. 1 Correa, Javier 1 Cottrell, Garrison W. 1 Cugliari, Manuel 1 Dellaert, Frank 1 Espinace, Pablo 1 Fernández, Lorenzo 1 Freda, Luigi 1 Galan, Ramon 1 Gauglitz, Steffen 1 Ghodsi, Ali 1 Gil, Arturo 1 Gning, Amadou 1 Grimmer, Andreas 1 Guo, Jianhui 1 Gustafsson, Fredrik 1 Harasztos, Frigyes 1 Havangi, Ramazan 1 Höllerer, Tobias 1 Hollósi, Gergely 1 Hong, Bingrong 1 Howard, Andrew 1 Hu, Youjian 1 Huang, Wesley H. 1 Jiménez, Agustín 1 Juang, Jyh-Ching 1 Kaess, Michael 1 Kannan, Ramkumar 1 Karlsson, Rickard 1 Kautz, Henry A. 1 Kim, Byung Kook 1 Kirste, Thomas 1 Kluth, Tobias 1 Ko, Jonathan 1 Koizumi, David 1 Konolige, Kurt 1 LaMarca, Anthony 1 Langdon, Daniel 1 Le Hégarat-Mascle, Sylvie 1 Lease, Matthew 1 Li, Demeng 1 Li, Gongyan 1 Li, Maohai 1 Li, Mingyue 1 Liao, Lin 1 Limketkai, Benson 1 Liu, Jilin 1 Liu, Yan 1 Lu, Mingli 1 Lüdtke, Stefan 1 Lukovszki, Csaba 1 Luo, Ronghua 1 Marks, Tim K. 1 Martinelli, Francesco 1 Mastrogiovanni, Fulvio 1 Matthies, Larry H. 1 Maturana, Daniel 1 Milstein, Adam 1 Moldován, István 1 Montemerlo, Michael 1 Morisset, Benoit 1 Namerikawa, Toru 1 Nemra, Abdelkrim 1 Olsson, Jimmy 1 Ortiz, Charles L. jun. 1 Othman, Nur Aqilah 1 Park, Sungwoo 1 Patterson, Donald J. 1 Pfenning, Frank 1 Pham, Viet-Cuong 1 Plósz, Sándor 1 Qin, Shiyin 1 Rad, Ahmad B. 1 Rayappan, John Bosco Balaguru 1 Reineking, Thomas 1 Reinoso, Oscar ...and 37 more Authors all top 5 Cited in 23 Serials 9 Journal of Intelligent & Robotic Systems 4 Springer Tracts in Advanced Robotics 3 International Journal of Approximate Reasoning 2 International Journal of Applied Mathematics and Computer Science 2 Journal of Zhejiang University. Science A 2 Journal of Field Robotics 1 Artificial Intelligence 1 Biological Cybernetics 1 International Journal of Systems Science 1 Journal of the Franklin Institute 1 Annals of the Institute of Statistical Mathematics 1 Automatica 1 Journal of Mathematical Psychology 1 Journal of Computer and Systems Sciences International 1 International Journal of Computer Vision 1 The Journal of Artificial Intelligence Research (JAIR) 1 Annals of Mathematics and Artificial Intelligence 1 Mathematical Problems in Engineering 1 Nonlinear Dynamics 1 Sādhanā 1 1 Acta Universitatis Sapientiae. Informatica 1 Asian Journal of Control all top 5 Cited in 9 Fields 32 Computer science (68-XX) 22 Systems theory; control (93-XX) 4 Statistics (62-XX) 4 Numerical analysis (65-XX) 4 Mechanics of particles and systems (70-XX) 2 Operations research, mathematical programming (90-XX) 1 Probability theory and stochastic processes (60-XX) 1 Game theory, economics, finance, and other social and behavioral sciences (91-XX) 1 Biology and other natural sciences (92-XX) Citations by Year