OS4-1 An Improved Laser SLAM Algorithm Based on Cartographer

Title:	OS4-1 An Improved Laser SLAM Algorithm Based on Cartographer
Publication:	ICAROB2025
Volume:	30
Pages:	102-105
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS4-1
Author(s):	Lei Jiang, Miao Zhang
Publication Date:	February 13, 2025
Keywords:	SLAM, Cartographer, UKF, AUKF
Abstract:	SLAM is one of the core technologies in the field of robotics. At present, Laser SLAM has become the mainstream mapping solution for general mobile robots. Cartographer algorithm is one of the mainstream Laser SLAM algorithms, which has attracted much attention because of its high accuracy and suitable for large scenes. However, the effect of sensor data fusion using Unscented Kalman Filter (UKF) is not ideal. Therefore, an improved Cartographer algorithm is proposed in this paper, which uses Adaptive Unscented Kalman Filter (AUKF) to fuse information of sensors, aiming to improve the accuracy of localization and mapping.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS4/OS4-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/