To solve the problems of Cartographer algorithm in local scan matching,such as low matching accuracy and pose hop affecting loop detection,an improved Cartographer algorithm based on multi-resolution map pose hop optimization was proposed.Firstly,in local optimization,a multi-resolution raster map is established to improve the estimation accuracy of the initial pose.Then,between loop detection and global optimization,the pose jump detection mechanism is established to improve the reliability of loop detection by reducing the number of mutation nodes.Finally,through the data set,the improved algorithm is verified.The results show that this algorithm can ef-fectively improve the positioning accuracy and the effect of map construction.
关键词
同步定位与地图构建/Cartographer算法/点云匹配/回环检测
Key words
simultaneous localization and mapping/Cartographer algorithm/point cloud matching/loop closure
万方数据