FastSLAM 2.0 running on a low-cost embedded architecture

Abstract

The first method that was developed to deal with the SLAM problem is based on the extended kalman filter, EKF SLAM. However this approach cannot be applied to a large environments because of the quadratic complexity and data association problem. The second approach to address the SLAM problem is based on the Rao-Blackwellized Particle filter FastSLAM, which follows a large number of hypotheses that represent the different possible trajectories, each trajectory carries its own map, its complexity increase logarithmically with the number of landmarks in the map. In this paper we will present the result of an implementation of the FastSLAM 2.0 on an open multimedia applications processor, based on a monocular camera as an exteroceptive sensor. A parallel implementation of this algorithm was achieved. Results aim to demonstrate that an optimized algorithm implemented on a low cost architecture is suitable to design an embedded system for SLAM applications