详细介绍fastslam2.0，是由Michael Montemerlo and Sebastian Thrun所著的IEEE论文。-Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM which overcomes important deficiencies of the original algorithm.We prove convergence of this new algorithm for linear SLAM problems and provide real-world experimental results that illustrate an order of magnitude improvement inaccuracy over the original FastSLAM algorithm.