A Loop Closure Matching Method Based on Simulated Annealing Algorithm in 2D Lidar SLAM

Simultaneous Localization and Mapping (SLAM) based on 2D lidar has always been a hot topic in the field of mobile robots, which endows mobile robots with the ability to sense the unknown environment in real-time. Loop closure detection technology can effectively reduce accumulative error and improve...

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Bibliographic Details
Published inChinese Automation Congress (Online) pp. 732 - 736
Main Authors Huang, Hai-Kuan, Zhu, Wen-Xing
Format Conference Proceeding
LanguageEnglish
Published IEEE 25.11.2022
Subjects
2D laser SLAM
Annealing
Automation
Buildings
Laser radar
Lasers
Loop closure detection
Scan match
Simulated annealing
Simulated annealing algorithm
Simultaneous localization and mapping
Online AccessGet full text
ISSN2688-0938
DOI10.1109/CAC57257.2022.10056038

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Summary:Simultaneous Localization and Mapping (SLAM) based on 2D lidar has always been a hot topic in the field of mobile robots, which endows mobile robots with the ability to sense the unknown environment in real-time. Loop closure detection technology can effectively reduce accumulative error and improve the mapping effect, which is an important part of 2D laser SLAM. This paper proposes a loop closure scan matching method based on simulated annealing algorithm to speed up the process of loop closure detection. According to experimental data, this method performs better in real-time and is more adaptable when building maps of big indoor scenes than the conventional loop closure detection process.
ISSN:2688-0938
DOI:10.1109/CAC57257.2022.10056038