Cartographer local SLAM optimization using multistage distance scan scheduler

• Main Authors: Dwijotomo, Abdurahman, Abdul Rahman, Mohd. Azizi, Mohammed Ariff, Mohd. Hatta, Zamzuri, Hairi
• Format: Conference or Workshop Item
• Published: 2020
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.utm.my/id/eprint/89792/; http://dx.doi.org/10.1007/978-981-15-4481-1_20

This paper presents the utilization of Google’s simultaneous localization and mapping (SLAM) called Cartographer, and improvement of the existing processing speed using multistage distance scheduler. The presented approach optimizes the Local SLAM part in Cartographer to correct local pose based fro...