FastSLAM Using Compressed Occupancy Grids

Algorithm 1

FastSLAM OG algorithm.

) procedure  FASTSLAMOG()

()  

()  for  ,   do

()    

()    

()     = OGUPDATE

()    

()  end for

()  

()  for  ,   do

()    select with probability proportional to

()    

()  end for

() end procedure