A comparison between extended kalman filtering and sequential monte carlo technique for simultaneous localisation and map-building.

Monte Carlo Localisation has been applied to solve many dierent classes of localisation problems. In this paper, we present a possible Simultaneous Localisation and Map-building implementation using the Sequential Monte Carlo technique. Multiple particle lters are created to estimate both the robot and landmark positions simultaneously. The proposed technique shows promising results when compared with those obtained with the Extended Kalman lter.

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