Improved 2D laser slam graph optimization based on Cholesky decomposition

Abstract

Laser slam usually needs to complete a back-end graph optimization at a fast speed in some specific scenes, such as sharp turns, fast motion, and limited calculation time. Aiming at these problems, this paper proposed a 2D laser slam back-end graph optimization combined with Cholesky decomposition to accelerate a linear solution process and further to achieve a purpose of accelerating graph optimization. In MATLAB simulation experiments, the rate of 2D laser slam back-end graph optimization combined with Cholesky decomposition increased 24%, compared to that of the traditional method without Cholesky decomposition. The result verified the effectiveness of the improved method.