Title: Front-end matching optimised algorithm of cartographer with multi-resolution layered search strategy

Authors: Yiqun Di; Xianghua Ma; Dong Guo

Addresses: School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai, China ' School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai, China ' School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai, China

Abstract: Cartographer is used in LiDAR simultaneous localisation and mapping (SLAM), and it has a stable mapping results and utilises loop closure detection to eliminate accumulated errors. However, considerable calculation is needed to guarantee the accuracy of mapping results and the decrease of accumulated errors when correlative scan matcher (CSM) is used to carry out the global search of the front-end matching. In order to resolve the above problem, a structure, multi-resolution layered search strategy (MLSS) is proposed in the frond-end of Cartographer. MLSS structure makes use of layered strategy and the full-number locally optimal principle to decrease accumulated errors from sources and time costs of front-end matching. Verification and comparison studies demonstrate the effectiveness of the proposed structure.

Keywords: simultaneous localisation and mapping; SLAM; multi-resolution layered search strategy; MLSS; front-end matching; full-number locally optimal principle; correlative scan matcher; CSM.

DOI: 10.1504/IJMIC.2022.125544

International Journal of Modelling, Identification and Control, 2022 Vol.40 No.4, pp.336 - 342

Received: 06 Jul 2021
Accepted: 31 Aug 2021
Published online: 14 Sep 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article