The UFastSLAM algorithm's resampling process will bring “sample reproverishment” problem. To improve the algorithm performance and increase the estimate accuracy, and based on the thought of auxiliary particle filtering algorithm, a solution named “Auxiliary UFastSLAM” is presented for SLAM problem. In view of the specialty of UFastSLAM algorithm, the recent observation information in its suggestion distribution function's seeking process to enhance stability of particle sampling, and one time weighting and second time weighting in its resampling process to alleviate particle degeneration are introduced. The experimental results indicate that the Auxiliary UFastSLAM algorithm does well on both estimate accuracy and consistency.