Applying Graph-based SLAM Algorithm in a Simulated Environment

Abstract

This paper explores the capabilities of a graph optimization-based Simultaneous Localization and Mapping (SLAM) algorithm known as Cartographer in a simulated environment. SLAM refers to the problem in which an agent attempts to determine its location in the immediate environment as well as constructing the map(s) of its environment. SLAM is one of the most important aspects in the implementation of autonomous vehicle. In this paper, we explore the capabilites of the Cartographer algorithm which is based on the newer graph optimization approach in improving SLAM problems. A series of experiments were tested in order to discover its Cartographer capabilities in tackling SLAM problems. Then, we compare the results of Cartographer with Hector SLAM, another graph-based SLAM algorithm. We present the results from the experiments which show some promising findings based on the amount of computer resources used and the quality of the map(s) produced.