cartographer_ local_ trajectory_ builder_ 2d

0. introduction

Make a summary of the front end .

The main functions of the front end ：
（1） Point cloud data processing ： wave filtering 、 Distortion correction
（2） The pose extrapolator calculates the pose
（3） Violent match (scan-to-submap)
（4）CSM matching
（5） Generate Submap
（6） Generate Node Incoming backend

Overall overview of the system ：

• Figure since

Front end Overview ：

• cartographer_ros Of submap Get and save

• Reference resources

• Reference resources

1. Coordinate system summary

• Reference resources :cartographer and ROS Coordinate system relationship of

2. Front end results

3.cartographer Local SLAM

• Local SLAM