SLAM algorith with Lidar

Hello everyone,

I would to ask if anyone knows how Matlab SLAM algorithm works (in particular, Implement Simultaneous Localization And Mapping (SLAM) with Lidar Scans: https://it.mathworks.com/help/nav/ug/implement-simultaneous-localization-and-mapping-with-lidar-scans.html).

I mean, it is based on graph theory?

How does a data-association work?

What does it mean with: mapResolution = 20; and where it is used?

Thank you for your time,

Marina

Answer 1

[Sai Bhargav Avula]

Hi,

In the case of SLAM with lidar Scans, the SLAM algorithm takes in lidar scans and attaches them to a node in an underlying pose graph. The algorithm then correlates the scans using scan matching. It also searches for loop closures, where scans overlap previously mapped regions, and optimizes the node poses in the pose graph.

The MapResolution means Resolution of the occupancy grid map. Meaning if the MapResolution is set to 20 then it means 20 cells per meter.

Hope this helps!