Research on Parameter Adjustment Method of Cartographer Algorithm

Abstract

The values of parameters in Cartographer algorithm have a great effect on the precision of localization and mapping. However, the Cartographer algorithm has many parameters and different parameters affect each other. It means the workload of parameter adjustment is heavy, and the efficiency is low as well. To solve this problem, a method of parameter adjustment was proposed in this paper. Firstly, the parameters of Cartographer algorithm were classified, and the design principle of each parameter was analyzed to estimate its value range. Then, the algorithm was run with different value of each parameter which was in the same data set, and the running results were counted. The influence of parameter values on the algorithm was analyzed according to the given evaluation scheme. Finally, the appropriate values and the adjustment method of the parameters were given. The experiment results showed that the efficiency of parameter adjustment was improved with using the method.