该PDF论文为TimBailey所著，为其博士论文，详细介绍了EKFSLAM，FASTSLAM1.0，FASTSLAM2.0的相同点和不同点以及优劣。-This thesis addresses the issues of scale for practical implementations of simultaneous localisation

and mapping [SLAM] in extensive outdoor environments. Building an incremental

map while also using it for localisation is of prime importance for mobile robot navigation

but, until recently, has been confined to small-scale, mostly indoor, environments. The

critical problems for large-scale implementations are as follows.