Improved Cartographer Algorithm Based on Pose Jump Optimization of Multi-resolution Map
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.
simultaneous localization and mappingCartographer algorithmpoint cloud matchingloop closure
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