Journal of Sensors / 2016 / Article / Alg 3

Research Article

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

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