FastSLAM Using Compressed Occupancy Grids

Algorithm 3

FastSLAM algorithm with compressed occupancy grids.

() procedure FASTSLAMCOG()

()   

()   for  ,   do

()     

()      = UNCOMPRESS()

()     

()      = ALPHACONSTRUCTION()

()     

()     

()   end for

()   

()   for  ,   do

()     sample with replacement from select with probability proportional to

()     

()   end for

() end procedure