Research on Pose Estimation Technology Based on Improved Cartographer Algorithm
GU Lintao
XIA Qingyuan
Abstract：Aiming at the low accuracy of the Cartographer algorithm in the front-end pose fusion algorithm,the initial value of the pose calculated by the correlation scan matching is inaccurate,which further leads to the problem that the Ceres-based opti-mized scan matching falls into the local optimum.A strategy to improve the use of odom data based on the pose incremental fusion al-gorithm is proposed,and finally the experimental analysis is performed on the data set.The results show that the improved algorithm has obvious improvements in mapping error.
Keywords：SLAMCartographerodompose estimation
Publication Date：2025-03-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 708-712 )