id sid tid token lemma pos ajst-1303 1 1 academic academic ADJ ajst-1303 1 2 journal journal NOUN ajst-1303 1 3 of of ADP ajst-1303 1 4 science science NOUN ajst-1303 1 5 and and CCONJ ajst-1303 1 6 technology technology NOUN ajst-1303 1 7 issn issn NOUN ajst-1303 1 8 : : PUNCT ajst-1303 1 9 2771 2771 NUM ajst-1303 1 10 - - SYM ajst-1303 1 11 3032 3032 NUM ajst-1303 1 12 | | NOUN ajst-1303 1 13 vol vol NOUN ajst-1303 1 14 . . PROPN ajst-1303 2 1 2 2 NUM ajst-1303 2 2 , , PUNCT ajst-1303 2 3 no no INTJ ajst-1303 2 4 . . NOUN ajst-1303 2 5 2 2 NUM ajst-1303 2 6 , , PUNCT ajst-1303 2 7 2022 2022 NUM ajst-1303 2 8 145 145 NUM ajst-1303 2 9 test test NOUN ajst-1303 2 10 of of ADP ajst-1303 2 11 cartographer cartographer NOUN ajst-1303 2 12 based base VERB ajst-1303 2 13 on on ADP ajst-1303 2 14 raspberry raspberry PROPN ajst-1303 2 15 pi pi PROPN ajst-1303 2 16 fan fan PROPN ajst-1303 2 17 zhang zhang PROPN ajst-1303 2 18 department department PROPN ajst-1303 2 19 of of ADP ajst-1303 2 20 automation automation NOUN ajst-1303 2 21 , , PUNCT ajst-1303 2 22 north north PROPN ajst-1303 2 23 china china PROPN ajst-1303 2 24 university university PROPN ajst-1303 2 25 of of ADP ajst-1303 2 26 technology technology PROPN ajst-1303 2 27 , , PUNCT ajst-1303 2 28 beijing beijing PROPN ajst-1303 2 29 , , PUNCT ajst-1303 2 30 china china PROPN ajst-1303 2 31 abstract abstract PROPN ajst-1303 2 32 : : PUNCT ajst-1303 2 33 the the DET ajst-1303 2 34 raspberry raspberry PROPN ajst-1303 2 35 pi pi NOUN ajst-1303 2 36 - - PUNCT ajst-1303 2 37 based base VERB ajst-1303 2 38 ai ai NOUN ajst-1303 2 39 car car NOUN ajst-1303 2 40 uses use VERB ajst-1303 2 41 a a DET ajst-1303 2 42 4 4 NUM ajst-1303 2 43 - - PUNCT ajst-1303 2 44 wheeled wheel VERB ajst-1303 2 45 ackerman ackerman NOUN ajst-1303 2 46 wheeled wheel VERB ajst-1303 2 47 robot robot NOUN ajst-1303 2 48 as as ADP ajst-1303 2 49 a a DET ajst-1303 2 50 motion motion NOUN ajst-1303 2 51 platform platform NOUN ajst-1303 2 52 and and CCONJ ajst-1303 2 53 is be AUX ajst-1303 2 54 equipped equip VERB ajst-1303 2 55 with with ADP ajst-1303 2 56 a a DET ajst-1303 2 57 high high ADJ ajst-1303 2 58 - - PUNCT ajst-1303 2 59 performance performance NOUN ajst-1303 2 60 lidar lidar NOUN ajst-1303 2 61 . . PUNCT ajst-1303 3 1 in in ADP ajst-1303 3 2 the the DET ajst-1303 3 3 ros ros PROPN ajst-1303 3 4 system system NOUN ajst-1303 3 5 under under ADP ajst-1303 3 6 ubuntu18 ubuntu18 NOUN ajst-1303 3 7 , , PUNCT ajst-1303 3 8 the the DET ajst-1303 3 9 test test NOUN ajst-1303 3 10 has have AUX ajst-1303 3 11 passed pass VERB ajst-1303 3 12 the the DET ajst-1303 3 13 cartographer cartographer NOUN ajst-1303 3 14 mapping mapping NOUN ajst-1303 3 15 algorithm algorithm NOUN ajst-1303 3 16 . . PUNCT ajst-1303 4 1 after after ADP ajst-1303 4 2 experiments experiment NOUN ajst-1303 4 3 , , PUNCT ajst-1303 4 4 it it PRON ajst-1303 4 5 is be AUX ajst-1303 4 6 found find VERB ajst-1303 4 7 that that SCONJ ajst-1303 4 8 the the DET ajst-1303 4 9 cartographer cartographer NOUN ajst-1303 4 10 algorithm algorithm NOUN ajst-1303 4 11 can can AUX ajst-1303 4 12 also also ADV ajst-1303 4 13 present present VERB ajst-1303 4 14 a a DET ajst-1303 4 15 good good ADJ ajst-1303 4 16 and and CCONJ ajst-1303 4 17 superior superior ADJ ajst-1303 4 18 mapping mapping NOUN ajst-1303 4 19 effect effect NOUN ajst-1303 4 20 under under ADP ajst-1303 4 21 the the DET ajst-1303 4 22 raspberry raspberry NOUN ajst-1303 4 23 pi pi NOUN ajst-1303 4 24 platform platform NOUN ajst-1303 4 25 . . PUNCT ajst-1303 5 1 keywords keyword NOUN ajst-1303 5 2 : : PUNCT ajst-1303 5 3 cartographer cartographer NOUN ajst-1303 5 4 , , PUNCT ajst-1303 5 5 slam slam PROPN ajst-1303 5 6 . . PUNCT ajst-1303 6 1 1 1 X ajst-1303 6 2 . . X ajst-1303 6 3 introduction introduction NOUN ajst-1303 6 4 based base VERB ajst-1303 6 5 on on ADP ajst-1303 6 6 a a DET ajst-1303 6 7 4 4 NUM ajst-1303 6 8 - - PUNCT ajst-1303 6 9 wheeled wheel VERB ajst-1303 6 10 ackerman ackerman NOUN ajst-1303 6 11 robot robot NOUN ajst-1303 6 12 carrying carry VERB ajst-1303 6 13 raspberry raspberry NOUN ajst-1303 6 14 pi pi NOUN ajst-1303 6 15 , , PUNCT ajst-1303 6 16 this this DET ajst-1303 6 17 project project NOUN ajst-1303 6 18 successfully successfully ADV ajst-1303 6 19 tested test VERB ajst-1303 6 20 and and CCONJ ajst-1303 6 21 tested test VERB ajst-1303 6 22 the the DET ajst-1303 6 23 feasibility feasibility NOUN ajst-1303 6 24 of of ADP ajst-1303 6 25 cartographer cartographer NOUN ajst-1303 6 26 's 's PART ajst-1303 6 27 graph graph NOUN ajst-1303 6 28 construction construction NOUN ajst-1303 6 29 algorithm algorithm NOUN ajst-1303 6 30 on on ADP ajst-1303 6 31 its its PRON ajst-1303 6 32 platform platform NOUN ajst-1303 6 33 through through ADP ajst-1303 6 34 the the DET ajst-1303 6 35 construction construction NOUN ajst-1303 6 36 of of ADP ajst-1303 6 37 dependency dependency NOUN ajst-1303 6 38 , , PUNCT ajst-1303 6 39 environment environment NOUN ajst-1303 6 40 and and CCONJ ajst-1303 6 41 other other ADJ ajst-1303 6 42 necessary necessary ADJ ajst-1303 6 43 conditions condition NOUN ajst-1303 6 44 . . PUNCT ajst-1303 7 1 2 2 X ajst-1303 7 2 . . X ajst-1303 7 3 algorithm algorithm NOUN ajst-1303 7 4 theory theory NOUN ajst-1303 7 5 the the DET ajst-1303 7 6 algorithm algorithm NOUN ajst-1303 7 7 is be AUX ajst-1303 7 8 divided divide VERB ajst-1303 7 9 into into ADP ajst-1303 7 10 two two NUM ajst-1303 7 11 parts part NOUN ajst-1303 7 12 : : PUNCT ajst-1303 7 13 local local ADJ ajst-1303 7 14 slam slam NOUN ajst-1303 7 15 ( ( PUNCT ajst-1303 7 16 front front ADJ ajst-1303 7 17 - - PUNCT ajst-1303 7 18 end end NOUN ajst-1303 7 19 detection detection NOUN ajst-1303 7 20 ) ) PUNCT ajst-1303 7 21 and and CCONJ ajst-1303 7 22 global global ADJ ajst-1303 7 23 slam slam NOUN ajst-1303 7 24 ( ( PUNCT ajst-1303 7 25 back back ADJ ajst-1303 7 26 - - PUNCT ajst-1303 7 27 end end NOUN ajst-1303 7 28 closedloop closedloop NOUN ajst-1303 7 29 ) ) PUNCT ajst-1303 7 30 . . PUNCT ajst-1303 8 1 there there PRON ajst-1303 8 2 are be VERB ajst-1303 8 3 four four NUM ajst-1303 8 4 sensor sensor NOUN ajst-1303 8 5 data datum NOUN ajst-1303 8 6 input input NOUN ajst-1303 8 7 here here ADV ajst-1303 8 8 : : PUNCT ajst-1303 8 9 range range NOUN ajst-1303 8 10 data datum NOUN ajst-1303 8 11 ( ( PUNCT ajst-1303 8 12 lidar lidar NOUN ajst-1303 8 13 , , PUNCT ajst-1303 8 14 camera camera NOUN ajst-1303 8 15 , , PUNCT ajst-1303 8 16 etc etc X ajst-1303 8 17 . . X ajst-1303 8 18 ) ) PUNCT ajst-1303 8 19 , , PUNCT ajst-1303 8 20 odometry odometry NOUN ajst-1303 8 21 pose(odometry pose(odometry PROPN ajst-1303 8 22 data data PROPN ajst-1303 8 23 ) ) PUNCT ajst-1303 8 24 , , PUNCT ajst-1303 8 25 imu imu NOUN ajst-1303 8 26 data datum NOUN ajst-1303 8 27 , , PUNCT ajst-1303 8 28 fixedframepose(which fixedframepose(which PROPN ajst-1303 8 29 i i PRON ajst-1303 8 30 understand understand VERB ajst-1303 8 31 to to PART ajst-1303 8 32 mean mean VERB ajst-1303 8 33 determined determined ADJ ajst-1303 8 34 location location NOUN ajst-1303 8 35 ) ) PUNCT ajst-1303 8 36 . . PUNCT ajst-1303 9 1 figure figure NOUN ajst-1303 9 2 1 1 NUM ajst-1303 9 3 . . PUNCT ajst-1303 9 4 cartographer cartographer PROPN ajst-1303 9 5 block block PROPN ajst-1303 9 6 diagram diagram VERB ajst-1303 9 7 the the DET ajst-1303 9 8 odometry odometry NOUN ajst-1303 9 9 and and CCONJ ajst-1303 9 10 data datum NOUN ajst-1303 9 11 are be AUX ajst-1303 9 12 entered enter VERB ajst-1303 9 13 into into ADP ajst-1303 9 14 the the DET ajst-1303 9 15 poseextrapolator poseextrapolator NOUN ajst-1303 9 16 together together ADV ajst-1303 9 17 with with ADP ajst-1303 9 18 the the DET ajst-1303 9 19 imu imu NOUN ajst-1303 9 20 data datum NOUN ajst-1303 9 21 , , PUNCT ajst-1303 9 22 where where SCONJ ajst-1303 9 23 dead dead ADJ ajst-1303 9 24 reckoning reckoning NOUN ajst-1303 9 25 is be AUX ajst-1303 9 26 done do VERB ajst-1303 9 27 . . PUNCT ajst-1303 10 1 given give VERB ajst-1303 10 2 a a DET ajst-1303 10 3 position position NOUN ajst-1303 10 4 estimate estimate NOUN ajst-1303 10 5 obtained obtain VERB ajst-1303 10 6 by by ADP ajst-1303 10 7 the the DET ajst-1303 10 8 odometry odometry NOUN ajst-1303 10 9 and and CCONJ ajst-1303 10 10 imu imu NOUN ajst-1303 10 11 , , PUNCT ajst-1303 10 12 the the DET ajst-1303 10 13 specific specific ADJ ajst-1303 10 14 method method NOUN ajst-1303 10 15 is be AUX ajst-1303 10 16 very very ADV ajst-1303 10 17 simple simple ADJ ajst-1303 10 18 : : PUNCT ajst-1303 10 19 calculate calculate VERB ajst-1303 10 20 the the DET ajst-1303 10 21 average average ADJ ajst-1303 10 22 speed speed NOUN ajst-1303 10 23 with with ADP ajst-1303 10 24 the the DET ajst-1303 10 25 odometry odometry NOUN ajst-1303 10 26 more more ADV ajst-1303 10 27 than than ADP ajst-1303 10 28 twice twice ADV ajst-1303 10 29 , , PUNCT ajst-1303 10 30 calculate calculate VERB ajst-1303 10 31 the the DET ajst-1303 10 32 average average ADJ ajst-1303 10 33 angular angular ADJ ajst-1303 10 34 velocity velocity NOUN ajst-1303 10 35 with with ADP ajst-1303 10 36 the the DET ajst-1303 10 37 imu imu NOUN ajst-1303 10 38 data datum NOUN ajst-1303 10 39 more more ADJ ajst-1303 10 40 than than ADP ajst-1303 10 41 twice twice ADV ajst-1303 10 42 , , PUNCT ajst-1303 10 43 and and CCONJ ajst-1303 10 44 then then ADV ajst-1303 10 45 calculate calculate VERB ajst-1303 10 46 the the DET ajst-1303 10 47 position position NOUN ajst-1303 10 48 and and CCONJ ajst-1303 10 49 attitude attitude NOUN ajst-1303 10 50 at at ADP ajst-1303 10 51 the the DET ajst-1303 10 52 next next ADJ ajst-1303 10 53 moment moment NOUN ajst-1303 10 54 . . PUNCT ajst-1303 11 1 then then ADV ajst-1303 11 2 it it PRON ajst-1303 11 3 is be AUX ajst-1303 11 4 given give VERB ajst-1303 11 5 to to PART ajst-1303 11 6 scan scan VERB ajst-1303 11 7 matching match VERB ajst-1303 11 8 as as ADP ajst-1303 11 9 the the DET ajst-1303 11 10 initial initial ADJ ajst-1303 11 11 value value NOUN ajst-1303 11 12 of of ADP ajst-1303 11 13 scan scan PROPN ajst-1303 11 14 matching matching NOUN ajst-1303 11 15 . . PUNCT ajst-1303 12 1 the the DET ajst-1303 12 2 range range NOUN ajst-1303 12 3 data data NOUN ajst-1303 12 4 is be AUX ajst-1303 12 5 then then ADV ajst-1303 12 6 filtered filter VERB ajst-1303 12 7 by by ADP ajst-1303 12 8 voxel voxel PROPN ajst-1303 12 9 ( ( PUNCT ajst-1303 12 10 a a DET ajst-1303 12 11 filtering filtering NOUN ajst-1303 12 12 method method NOUN ajst-1303 12 13 ) ) PUNCT ajst-1303 12 14 and and CCONJ ajst-1303 12 15 adaptive adaptive ADJ ajst-1303 12 16 voxel voxel PROPN ajst-1303 12 17 filtering filtering NOUN ajst-1303 12 18 , , PUNCT ajst-1303 12 19 and and CCONJ ajst-1303 12 20 then then ADV ajst-1303 12 21 entered enter VERB ajst-1303 12 22 into into ADP ajst-1303 12 23 scanmatching scanmatche VERB ajst-1303 12 24 as as ADP ajst-1303 12 25 the the DET ajst-1303 12 26 observed observed ADJ ajst-1303 12 27 value value NOUN ajst-1303 12 28 , , PUNCT ajst-1303 12 29 here here ADV ajst-1303 12 30 , , PUNCT ajst-1303 12 31 scanmatching scanmatche VERB ajst-1303 12 32 uses use VERB ajst-1303 12 33 the the DET ajst-1303 12 34 ceres ceres PROPN ajst-1303 12 35 - - PUNCT ajst-1303 12 36 optimized optimize VERB ajst-1303 12 37 scanmatching scanmatching NOUN ajst-1303 12 38 method method NOUN ajst-1303 12 39 introduced introduce VERB ajst-1303 12 40 146 146 NUM ajst-1303 12 41 in in ADP ajst-1303 12 42 the the DET ajst-1303 12 43 paper paper NOUN ajst-1303 12 44 of of ADP ajst-1303 12 45 real real ADJ ajst-1303 12 46 - - PUNCT ajst-1303 12 47 time time NOUN ajst-1303 12 48 loop loop NOUN ajst-1303 12 49 closure closure NOUN ajst-1303 12 50 in in ADP ajst-1303 12 51 2d 2d NUM ajst-1303 12 52 lidar lidar NOUN ajst-1303 12 53 slam slam NOUN ajst-1303 12 54 to to PART ajst-1303 12 55 obtain obtain VERB ajst-1303 12 56 the the DET ajst-1303 12 57 optimal optimal ADJ ajst-1303 12 58 position position NOUN ajst-1303 12 59 estimation estimation NOUN ajst-1303 12 60 . . PUNCT ajst-1303 13 1 after after ADP ajst-1303 13 2 motion motion NOUN ajst-1303 13 3 filter filter NOUN ajst-1303 13 4 , , PUNCT ajst-1303 13 5 as as SCONJ ajst-1303 13 6 the the DET ajst-1303 13 7 optimal optimal ADJ ajst-1303 13 8 position position NOUN ajst-1303 13 9 estimation estimation NOUN ajst-1303 13 10 , , PUNCT ajst-1303 13 11 submap submap ADJ ajst-1303 13 12 is be AUX ajst-1303 13 13 constructed.scanmatching constructed.scanmatche VERB ajst-1303 13 14 method method NOUN ajst-1303 13 15 more more ADV ajst-1303 13 16 interesting interesting ADJ ajst-1303 13 17 here here ADV ajst-1303 13 18 , , PUNCT ajst-1303 13 19 matches match VERB ajst-1303 13 20 the the DET ajst-1303 13 21 probability probability NOUN ajst-1303 13 22 of of ADP ajst-1303 13 23 each each DET ajst-1303 13 24 grid grid NOUN ajst-1303 13 25 point point NOUN ajst-1303 13 26 double double ADJ ajst-1303 13 27 cubic cubic ADJ ajst-1303 13 28 spline spline NOUN ajst-1303 13 29 interpolation interpolation NOUN ajst-1303 13 30 is be AUX ajst-1303 13 31 smooth smooth ADJ ajst-1303 13 32 , , PUNCT ajst-1303 13 33 and and CCONJ ajst-1303 13 34 then then ADV ajst-1303 13 35 build build VERB ajst-1303 13 36 optimization optimization NOUN ajst-1303 13 37 problem problem NOUN ajst-1303 13 38 as as SCONJ ajst-1303 13 39 follows follow VERB ajst-1303 13 40 , , PUNCT ajst-1303 13 41 m m VERB ajst-1303 13 42 that that SCONJ ajst-1303 13 43 behind behind ADP ajst-1303 13 44 the the DET ajst-1303 13 45 probability probability NOUN ajst-1303 13 46 , , PUNCT ajst-1303 13 47 probability probability NOUN ajst-1303 13 48 value value NOUN ajst-1303 13 49 of of ADP ajst-1303 13 50 0 0 NUM ajst-1303 13 51 to to PART ajst-1303 13 52 1 1 NUM ajst-1303 13 53 of of ADP ajst-1303 13 54 a a DET ajst-1303 13 55 number number NOUN ajst-1303 13 56 , , PUNCT ajst-1303 13 57 so so ADV ajst-1303 13 58 m m VERB ajst-1303 13 59 the the PRON ajst-1303 13 60 , , PUNCT ajst-1303 13 61 the the PRON ajst-1303 13 62 greater great ADJ ajst-1303 13 63 the the DET ajst-1303 13 64 1 1 NUM ajst-1303 13 65 the the DET ajst-1303 13 66 smaller small ADJ ajst-1303 13 67 m m NOUN ajst-1303 13 68 , , PUNCT ajst-1303 13 69 the the DET ajst-1303 13 70 highest high ADJ ajst-1303 13 71 goal goal NOUN ajst-1303 13 72 is be AUX ajst-1303 13 73 to to PART ajst-1303 13 74 obtain obtain VERB ajst-1303 13 75 a a DET ajst-1303 13 76 probability probability NOUN ajst-1303 13 77 optimization optimization NOUN ajst-1303 13 78 function function NOUN ajst-1303 13 79 . . PUNCT ajst-1303 14 1 π‘Žπ‘Ÿπ‘” π‘Žπ‘Ÿπ‘” NOUN ajst-1303 14 2 π‘šπ‘–π‘› π‘šπ‘–π‘› PROPN ajst-1303 14 3 1 1 NUM ajst-1303 14 4 𝑀 𝑀 PROPN ajst-1303 14 5 𝑇 𝑇 PROPN ajst-1303 14 6 β„Ž β„Ž PROPN ajst-1303 14 7 𝐢𝑆 𝐢𝑆 ADP ajst-1303 14 8 the the DET ajst-1303 14 9 local local ADJ ajst-1303 14 10 slam slam NOUN ajst-1303 14 11 section section NOUN ajst-1303 14 12 gets get VERB ajst-1303 14 13 a a DET ajst-1303 14 14 lot lot NOUN ajst-1303 14 15 of of ADP ajst-1303 14 16 submaps submap NOUN ajst-1303 14 17 , , PUNCT ajst-1303 14 18 which which PRON ajst-1303 14 19 are be AUX ajst-1303 14 20 then then ADV ajst-1303 14 21 fed feed VERB ajst-1303 14 22 into into ADP ajst-1303 14 23 the the DET ajst-1303 14 24 global global ADJ ajst-1303 14 25 slam slam NOUN ajst-1303 14 26 section section NOUN ajst-1303 14 27 for for ADP ajst-1303 14 28 optimization optimization NOUN ajst-1303 14 29 . . PUNCT ajst-1303 15 1 cartographer cartographer NOUN ajst-1303 15 2 's 's PART ajst-1303 15 3 main main ADJ ajst-1303 15 4 theory theory NOUN ajst-1303 15 5 is be AUX ajst-1303 15 6 to to PART ajst-1303 15 7 eliminate eliminate VERB ajst-1303 15 8 the the DET ajst-1303 15 9 accumulated accumulate VERB ajst-1303 15 10 errors error NOUN ajst-1303 15 11 caused cause VERB ajst-1303 15 12 by by ADP ajst-1303 15 13 the the DET ajst-1303 15 14 composition composition NOUN ajst-1303 15 15 process process NOUN ajst-1303 15 16 through through ADP ajst-1303 15 17 closed close VERB ajst-1303 15 18 - - PUNCT ajst-1303 15 19 loop loop NOUN ajst-1303 15 20 detection.the detection.the DET ajst-1303 15 21 basic basic ADJ ajst-1303 15 22 unit unit NOUN ajst-1303 15 23 used use VERB ajst-1303 15 24 for for ADP ajst-1303 15 25 closed closed ADJ ajst-1303 15 26 - - PUNCT ajst-1303 15 27 loop loop NOUN ajst-1303 15 28 detection detection NOUN ajst-1303 15 29 is be AUX ajst-1303 15 30 submap.a submap.a NOUN ajst-1303 15 31 submap submap ADJ ajst-1303 15 32 is be AUX ajst-1303 15 33 made make VERB ajst-1303 15 34 up up ADP ajst-1303 15 35 of of ADP ajst-1303 15 36 a a DET ajst-1303 15 37 certain certain ADJ ajst-1303 15 38 number number NOUN ajst-1303 15 39 of of ADP ajst-1303 15 40 laser laser NOUN ajst-1303 15 41 scans.when scans.when ADP ajst-1303 15 42 a a DET ajst-1303 15 43 laser laser NOUN ajst-1303 15 44 scan scan NOUN ajst-1303 15 45 is be AUX ajst-1303 15 46 inserted insert VERB ajst-1303 15 47 into into ADP ajst-1303 15 48 its its PRON ajst-1303 15 49 corresponding correspond VERB ajst-1303 15 50 submap submap NOUN ajst-1303 15 51 , , PUNCT ajst-1303 15 52 its its PRON ajst-1303 15 53 optimal optimal ADJ ajst-1303 15 54 position position NOUN ajst-1303 15 55 in in ADP ajst-1303 15 56 the the DET ajst-1303 15 57 submap submap NOUN ajst-1303 15 58 is be AUX ajst-1303 15 59 estimated estimate VERB ajst-1303 15 60 based base VERB ajst-1303 15 61 on on ADP ajst-1303 15 62 the the DET ajst-1303 15 63 existing exist VERB ajst-1303 15 64 laser laser NOUN ajst-1303 15 65 scan scan NOUN ajst-1303 15 66 and and CCONJ ajst-1303 15 67 other other ADJ ajst-1303 15 68 sensor sensor NOUN ajst-1303 15 69 data datum NOUN ajst-1303 15 70 of of ADP ajst-1303 15 71 the the DET ajst-1303 15 72 submap.the submap.the DET ajst-1303 15 73 error error NOUN ajst-1303 15 74 accumulation accumulation NOUN ajst-1303 15 75 of of ADP ajst-1303 15 76 submap submap ADJ ajst-1303 15 77 creation creation NOUN ajst-1303 15 78 in in ADP ajst-1303 15 79 a a DET ajst-1303 15 80 short short ADJ ajst-1303 15 81 period period NOUN ajst-1303 15 82 of of ADP ajst-1303 15 83 time time NOUN ajst-1303 15 84 is be AUX ajst-1303 15 85 considered consider VERB ajst-1303 15 86 to to PART ajst-1303 15 87 be be AUX ajst-1303 15 88 small small ADJ ajst-1303 15 89 enough.however enough.however ADV ajst-1303 15 90 , , PUNCT ajst-1303 15 91 as as SCONJ ajst-1303 15 92 more more ADJ ajst-1303 15 93 and and CCONJ ajst-1303 15 94 more more ADJ ajst-1303 15 95 submaps submap NOUN ajst-1303 15 96 are be AUX ajst-1303 15 97 created create VERB ajst-1303 15 98 over over ADP ajst-1303 15 99 time time NOUN ajst-1303 15 100 , , PUNCT ajst-1303 15 101 the the DET ajst-1303 15 102 error error NOUN ajst-1303 15 103 accumulation accumulation NOUN ajst-1303 15 104 between between ADP ajst-1303 15 105 submaps submap NOUN ajst-1303 15 106 will will AUX ajst-1303 15 107 become become VERB ajst-1303 15 108 larger large ADJ ajst-1303 15 109 and and CCONJ ajst-1303 15 110 larger.therefore larger.therefore ADV ajst-1303 15 111 , , PUNCT ajst-1303 15 112 it it PRON ajst-1303 15 113 is be AUX ajst-1303 15 114 necessary necessary ADJ ajst-1303 15 115 to to PART ajst-1303 15 116 properly properly ADV ajst-1303 15 117 optimize optimize VERB ajst-1303 15 118 the the DET ajst-1303 15 119 pose pose NOUN ajst-1303 15 120 of of ADP ajst-1303 15 121 these these DET ajst-1303 15 122 submaps submap NOUN ajst-1303 15 123 through through ADP ajst-1303 15 124 closed closed ADJ ajst-1303 15 125 - - PUNCT ajst-1303 15 126 loop loop NOUN ajst-1303 15 127 detection detection NOUN ajst-1303 15 128 to to PART ajst-1303 15 129 eliminate eliminate VERB ajst-1303 15 130 these these DET ajst-1303 15 131 accumulated accumulate VERB ajst-1303 15 132 errors error NOUN ajst-1303 15 133 , , PUNCT ajst-1303 15 134 which which PRON ajst-1303 15 135 transforms transform VERB ajst-1303 15 136 the the DET ajst-1303 15 137 problem problem NOUN ajst-1303 15 138 into into ADP ajst-1303 15 139 a a DET ajst-1303 15 140 pose pose NOUN ajst-1303 15 141 optimization optimization NOUN ajst-1303 15 142 problem.when problem.when SCONJ ajst-1303 15 143 the the DET ajst-1303 15 144 construction construction NOUN ajst-1303 15 145 of of ADP ajst-1303 15 146 a a DET ajst-1303 15 147 submap submap NOUN ajst-1303 15 148 is be AUX ajst-1303 15 149 completed complete VERB ajst-1303 15 150 , , PUNCT ajst-1303 15 151 that that ADV ajst-1303 15 152 is is ADV ajst-1303 15 153 , , PUNCT ajst-1303 15 154 no no DET ajst-1303 15 155 new new ADJ ajst-1303 15 156 laser laser NOUN ajst-1303 15 157 scan scan NOUN ajst-1303 15 158 will will AUX ajst-1303 15 159 be be AUX ajst-1303 15 160 inserted insert VERB ajst-1303 15 161 into into ADP ajst-1303 15 162 the the DET ajst-1303 15 163 submap submap NOUN ajst-1303 15 164 , , PUNCT ajst-1303 15 165 the the DET ajst-1303 15 166 submap submap NOUN ajst-1303 15 167 will will AUX ajst-1303 15 168 be be AUX ajst-1303 15 169 added add VERB ajst-1303 15 170 to to ADP ajst-1303 15 171 the the DET ajst-1303 15 172 closed close VERB ajst-1303 15 173 - - PUNCT ajst-1303 15 174 loop loop NOUN ajst-1303 15 175 detection.the detection.the DET ajst-1303 15 176 closed closed ADJ ajst-1303 15 177 loop loop NOUN ajst-1303 15 178 detection detection NOUN ajst-1303 15 179 takes take VERB ajst-1303 15 180 into into ADP ajst-1303 15 181 account account NOUN ajst-1303 15 182 all all DET ajst-1303 15 183 the the DET ajst-1303 15 184 submaps submap NOUN ajst-1303 15 185 that that PRON ajst-1303 15 186 have have AUX ajst-1303 15 187 been be AUX ajst-1303 15 188 created.when created.when ADV ajst-1303 15 189 a a DET ajst-1303 15 190 new new ADJ ajst-1303 15 191 laser laser NOUN ajst-1303 15 192 scan scan NOUN ajst-1303 15 193 is be AUX ajst-1303 15 194 added add VERB ajst-1303 15 195 to to ADP ajst-1303 15 196 the the DET ajst-1303 15 197 map map NOUN ajst-1303 15 198 , , PUNCT ajst-1303 15 199 if if SCONJ ajst-1303 15 200 the the DET ajst-1303 15 201 estimated estimate VERB ajst-1303 15 202 pose pose NOUN ajst-1303 15 203 of of ADP ajst-1303 15 204 the the DET ajst-1303 15 205 laser laser NOUN ajst-1303 15 206 scan scan NOUN ajst-1303 15 207 is be AUX ajst-1303 15 208 close close ADJ ajst-1303 15 209 to to ADP ajst-1303 15 210 the the DET ajst-1303 15 211 pose pose NOUN ajst-1303 15 212 of of ADP ajst-1303 15 213 a a DET ajst-1303 15 214 laser laser NOUN ajst-1303 15 215 scan scan NOUN ajst-1303 15 216 of of ADP ajst-1303 15 217 a a DET ajst-1303 15 218 submap submap NOUN ajst-1303 15 219 in in ADP ajst-1303 15 220 the the DET ajst-1303 15 221 map map NOUN ajst-1303 15 222 , , PUNCT ajst-1303 15 223 the the DET ajst-1303 15 224 closed closed ADJ ajst-1303 15 225 loop loop NOUN ajst-1303 15 226 will will AUX ajst-1303 15 227 be be AUX ajst-1303 15 228 found find VERB ajst-1303 15 229 by by ADP ajst-1303 15 230 some some DET ajst-1303 15 231 scan scan NOUN ajst-1303 15 232 match match VERB ajst-1303 15 233 strategy.the strategy.the DET ajst-1303 15 234 scan scan PROPN ajst-1303 15 235 match match NOUN ajst-1303 15 236 strategy strategy NOUN ajst-1303 15 237 in in ADP ajst-1303 15 238 cartographer cartographer NOUN ajst-1303 15 239 searches search NOUN ajst-1303 15 240 for for ADP ajst-1303 15 241 a a DET ajst-1303 15 242 possible possible ADJ ajst-1303 15 243 match match NOUN ajst-1303 15 244 of of ADP ajst-1303 15 245 the the DET ajst-1303 15 246 laser laser NOUN ajst-1303 15 247 scan scan VERB ajst-1303 15 248 by by ADP ajst-1303 15 249 taking take VERB ajst-1303 15 250 a a DET ajst-1303 15 251 window window NOUN ajst-1303 15 252 near near ADP ajst-1303 15 253 the the DET ajst-1303 15 254 estimated estimate VERB ajst-1303 15 255 pose pose NOUN ajst-1303 15 256 of of ADP ajst-1303 15 257 the the DET ajst-1303 15 258 laser laser NOUN ajst-1303 15 259 scan scan VERB ajst-1303 15 260 newly newly ADV ajst-1303 15 261 added add VERB ajst-1303 15 262 to to ADP ajst-1303 15 263 the the DET ajst-1303 15 264 map map NOUN ajst-1303 15 265 . . PUNCT ajst-1303 16 1 if if SCONJ ajst-1303 16 2 a a DET ajst-1303 16 3 good good ADJ ajst-1303 16 4 enough enough ADJ ajst-1303 16 5 match match NOUN ajst-1303 16 6 is be AUX ajst-1303 16 7 found find VERB ajst-1303 16 8 , , PUNCT ajst-1303 16 9 then then ADV ajst-1303 16 10 the the DET ajst-1303 16 11 closed closed ADJ ajst-1303 16 12 - - PUNCT ajst-1303 16 13 loop loop NOUN ajst-1303 16 14 constraint constraint NOUN ajst-1303 16 15 of of ADP ajst-1303 16 16 this this DET ajst-1303 16 17 matching matching NOUN ajst-1303 16 18 will will AUX ajst-1303 16 19 be be AUX ajst-1303 16 20 added add VERB ajst-1303 16 21 to to ADP ajst-1303 16 22 the the DET ajst-1303 16 23 position position NOUN ajst-1303 16 24 pose pose VERB ajst-1303 16 25 optimization optimization NOUN ajst-1303 16 26 problem.the problem.the DET ajst-1303 16 27 key key ADJ ajst-1303 16 28 contents content NOUN ajst-1303 16 29 of of ADP ajst-1303 16 30 cartographer cartographer NOUN ajst-1303 16 31 are be AUX ajst-1303 16 32 the the DET ajst-1303 16 33 creation creation NOUN ajst-1303 16 34 of of ADP ajst-1303 16 35 local local ADJ ajst-1303 16 36 submap submap NOUN ajst-1303 16 37 fused fuse VERB ajst-1303 16 38 with with ADP ajst-1303 16 39 multi multi ADJ ajst-1303 16 40 - - ADJ ajst-1303 16 41 sensor sensor ADJ ajst-1303 16 42 data datum NOUN ajst-1303 16 43 and and CCONJ ajst-1303 16 44 the the DET ajst-1303 16 45 implementation implementation NOUN ajst-1303 16 46 of of ADP ajst-1303 16 47 scan scan PROPN ajst-1303 16 48 match match NOUN ajst-1303 16 49 strategy strategy NOUN ajst-1303 16 50 for for ADP ajst-1303 16 51 closed closed ADJ ajst-1303 16 52 - - PUNCT ajst-1303 16 53 loop loop NOUN ajst-1303 16 54 detection detection NOUN ajst-1303 16 55 . . PUNCT ajst-1303 17 1 the the DET ajst-1303 17 2 code code NOUN ajst-1303 17 3 of of ADP ajst-1303 17 4 google google PROPN ajst-1303 17 5 open open PROPN ajst-1303 17 6 source source NOUN ajst-1303 17 7 contains contain VERB ajst-1303 17 8 two two NUM ajst-1303 17 9 parts part NOUN ajst-1303 17 10 : : PUNCT ajst-1303 17 11 cartographer cartographer NOUN ajst-1303 17 12 and and CCONJ ajst-1303 17 13 cartographer_ros.cartographer cartographer_ros.cartographer NOUN ajst-1303 17 14 is be AUX ajst-1303 17 15 mainly mainly ADV ajst-1303 17 16 responsible responsible ADJ ajst-1303 17 17 for for ADP ajst-1303 17 18 processing processing NOUN ajst-1303 17 19 data datum NOUN ajst-1303 17 20 from from ADP ajst-1303 17 21 radar radar NOUN ajst-1303 17 22 , , PUNCT ajst-1303 17 23 imu imu NOUN ajst-1303 17 24 and and CCONJ ajst-1303 17 25 odometer odometer NOUN ajst-1303 17 26 and and CCONJ ajst-1303 17 27 building building NOUN ajst-1303 17 28 maps map NOUN ajst-1303 17 29 based base VERB ajst-1303 17 30 on on ADP ajst-1303 17 31 these these DET ajst-1303 17 32 data datum NOUN ajst-1303 17 33 , , PUNCT ajst-1303 17 34 which which PRON ajst-1303 17 35 is be AUX ajst-1303 17 36 the the DET ajst-1303 17 37 underlying underlying ADJ ajst-1303 17 38 implementation implementation NOUN ajst-1303 17 39 of of ADP ajst-1303 17 40 cartographer cartographer NOUN ajst-1303 17 41 's 's PART ajst-1303 17 42 theory.cartographer_ros theory.cartographer_ros PROPN ajst-1303 17 43 obtains obtain VERB ajst-1303 17 44 the the DET ajst-1303 17 45 sensor sensor NOUN ajst-1303 17 46 data datum NOUN ajst-1303 17 47 based base VERB ajst-1303 17 48 on on ADP ajst-1303 17 49 the the DET ajst-1303 17 50 communication communication NOUN ajst-1303 17 51 mechanism mechanism NOUN ajst-1303 17 52 of of ADP ajst-1303 17 53 ros ros PROPN ajst-1303 17 54 , , PUNCT ajst-1303 17 55 converts convert VERB ajst-1303 17 56 them they PRON ajst-1303 17 57 into into ADP ajst-1303 17 58 the the DET ajst-1303 17 59 format format NOUN ajst-1303 17 60 defined define VERB ajst-1303 17 61 in in ADP ajst-1303 17 62 cartographer cartographer NOUN ajst-1303 17 63 and and CCONJ ajst-1303 17 64 transfers transfer VERB ajst-1303 17 65 them they PRON ajst-1303 17 66 to to ADP ajst-1303 17 67 cartographer cartographer NOUN ajst-1303 17 68 for for ADP ajst-1303 17 69 processing processing NOUN ajst-1303 17 70 . . PUNCT ajst-1303 18 1 at at ADP ajst-1303 18 2 the the DET ajst-1303 18 3 same same ADJ ajst-1303 18 4 time time NOUN ajst-1303 18 5 , , PUNCT ajst-1303 18 6 cartographer cartographer NOUN ajst-1303 18 7 publishes publish VERB ajst-1303 18 8 the the DET ajst-1303 18 9 processing processing NOUN ajst-1303 18 10 results result NOUN ajst-1303 18 11 for for ADP ajst-1303 18 12 display display NOUN ajst-1303 18 13 or or CCONJ ajst-1303 18 14 saving saving NOUN ajst-1303 18 15 . . PUNCT ajst-1303 19 1 is be AUX ajst-1303 19 2 an an DET ajst-1303 19 3 upper upper ADJ ajst-1303 19 4 - - PUNCT ajst-1303 19 5 layer layer NOUN ajst-1303 19 6 application application NOUN ajst-1303 19 7 based base VERB ajst-1303 19 8 on on ADP ajst-1303 19 9 cartographer cartographer NOUN ajst-1303 19 10 . . PUNCT ajst-1303 20 1 3 3 X ajst-1303 20 2 . . X ajst-1303 20 3 environment environment NOUN ajst-1303 20 4 building build VERB ajst-1303 20 5 1 1 NUM ajst-1303 20 6 . . PUNCT ajst-1303 21 1 install install NOUN ajst-1303 21 2 dependencies dependency NOUN ajst-1303 21 3 2 2 NUM ajst-1303 21 4 download download NOUN ajst-1303 21 5 the the DET ajst-1303 21 6 installation installation NOUN ajst-1303 21 7 package package NOUN ajst-1303 21 8 3 3 NUM ajst-1303 21 9 . . PUNCT ajst-1303 22 1 the the DET ajst-1303 22 2 compilation compilation NOUN ajst-1303 22 3 4 4 NUM ajst-1303 22 4 . . PUNCT ajst-1303 22 5 test test NOUN ajst-1303 22 6 3.1 3.1 NUM ajst-1303 22 7 . . PUNCT ajst-1303 23 1 the the DET ajst-1303 23 2 general general ADJ ajst-1303 23 3 framework framework NOUN ajst-1303 23 4 of of ADP ajst-1303 23 5 cartgrapher cartgrapher NOUN ajst-1303 23 6 's 's PART ajst-1303 23 7 algorithm algorithm NOUN ajst-1303 23 8 a a DET ajst-1303 23 9 total total NOUN ajst-1303 23 10 of of ADP ajst-1303 23 11 three three NUM ajst-1303 23 12 software software NOUN ajst-1303 23 13 packages package NOUN ajst-1303 23 14 were be AUX ajst-1303 23 15 downloaded download VERB ajst-1303 23 16 to to PART ajst-1303 23 17 install install VERB ajst-1303 23 18 cartographer cartographer NOUN ajst-1303 23 19 , , PUNCT ajst-1303 23 20 among among ADP ajst-1303 23 21 which which PRON ajst-1303 23 22 cartographer cartographer NOUN ajst-1303 23 23 is be AUX ajst-1303 23 24 our our PRON ajst-1303 23 25 research research NOUN ajst-1303 23 26 target target NOUN ajst-1303 23 27 and and CCONJ ajst-1303 23 28 cartographer_ros cartographer_ro NOUN ajst-1303 23 29 is be AUX ajst-1303 23 30 its its PRON ajst-1303 23 31 encapsulation encapsulation NOUN ajst-1303 23 32 in in ADP ajst-1303 23 33 ros ros PROPN ajst-1303 23 34 environment.ceres environment.ceres PROPN ajst-1303 23 35 - - PUNCT ajst-1303 23 36 solver solver NOUN ajst-1303 23 37 is be AUX ajst-1303 23 38 an an DET ajst-1303 23 39 optimization optimization NOUN ajst-1303 23 40 library library NOUN ajst-1303 23 41 , , PUNCT ajst-1303 23 42 which which PRON ajst-1303 23 43 is be AUX ajst-1303 23 44 used use VERB ajst-1303 23 45 by by ADP ajst-1303 23 46 cartographer cartographer NOUN ajst-1303 23 47 to to PART ajst-1303 23 48 solve solve VERB ajst-1303 23 49 the the DET ajst-1303 23 50 optimization optimization NOUN ajst-1303 23 51 problems problem NOUN ajst-1303 23 52 in in ADP ajst-1303 23 53 the the DET ajst-1303 23 54 process process NOUN ajst-1303 23 55 of of ADP ajst-1303 23 56 updating update VERB ajst-1303 23 57 local local ADJ ajst-1303 23 58 map map NOUN ajst-1303 23 59 and and CCONJ ajst-1303 23 60 global global ADJ ajst-1303 23 61 optimization optimization NOUN ajst-1303 23 62 . . PUNCT ajst-1303 24 1 the the DET ajst-1303 24 2 rosnode rosnode PROPN ajst-1303 24 3 tool tool NOUN ajst-1303 24 4 is be AUX ajst-1303 24 5 used use VERB ajst-1303 24 6 to to PART ajst-1303 24 7 view view VERB ajst-1303 24 8 the the DET ajst-1303 24 9 nodes node NOUN ajst-1303 24 10 running run VERB ajst-1303 24 11 in in ADP ajst-1303 24 12 the the DET ajst-1303 24 13 current current ADJ ajst-1303 24 14 system system NOUN ajst-1303 24 15 , , PUNCT ajst-1303 24 16 or or CCONJ ajst-1303 24 17 the the DET ajst-1303 24 18 rqt_graph rqt_graph NOUN ajst-1303 24 19 tool tool NOUN ajst-1303 24 20 is be AUX ajst-1303 24 21 used use VERB ajst-1303 24 22 to to PART ajst-1303 24 23 obtain obtain VERB ajst-1303 24 24 the the DET ajst-1303 24 25 subscription subscription NOUN ajst-1303 24 26 relationship relationship NOUN ajst-1303 24 27 diagram diagram NOUN ajst-1303 24 28 between between ADP ajst-1303 24 29 nodes node NOUN ajst-1303 24 30 and and CCONJ ajst-1303 24 31 topics topic NOUN ajst-1303 24 32 as as SCONJ ajst-1303 24 33 shown show VERB ajst-1303 24 34 in in ADP ajst-1303 24 35 the the DET ajst-1303 24 36 right right ADJ ajst-1303 24 37 figure figure NOUN ajst-1303 24 38 . . PUNCT ajst-1303 25 1 figure figure NOUN ajst-1303 25 2 2 2 NUM ajst-1303 25 3 . . PUNCT ajst-1303 26 1 node node ADJ ajst-1303 26 2 graph graph NOUN ajst-1303 26 3 there there PRON ajst-1303 26 4 are be VERB ajst-1303 26 5 a a DET ajst-1303 26 6 total total NOUN ajst-1303 26 7 of of ADP ajst-1303 26 8 6 6 NUM ajst-1303 26 9 nodes node NOUN ajst-1303 26 10 in in ADP ajst-1303 26 11 the the DET ajst-1303 26 12 system system NOUN ajst-1303 26 13 . . PUNCT ajst-1303 27 1 /rosout /rosout PUNCT ajst-1303 27 2 is be AUX ajst-1303 27 3 the the DET ajst-1303 27 4 node node NOUN ajst-1303 27 5 used use VERB ajst-1303 27 6 by by ADP ajst-1303 27 7 the the DET ajst-1303 27 8 ros ros PROPN ajst-1303 27 9 system system NOUN ajst-1303 27 10 to to PART ajst-1303 27 11 manage manage VERB ajst-1303 27 12 log log NOUN ajst-1303 27 13 output output NOUN ajst-1303 27 14 and and CCONJ ajst-1303 27 15 has have VERB ajst-1303 27 16 no no DET ajst-1303 27 17 relation relation NOUN ajst-1303 27 18 to to ADP ajst-1303 27 19 the the DET ajst-1303 27 20 actual actual ADJ ajst-1303 27 21 business business NOUN ajst-1303 27 22 logic logic NOUN ajst-1303 27 23 147 147 NUM ajst-1303 27 24 both both DET ajst-1303 27 25 /rviz /rviz PUNCT ajst-1303 27 26 and and CCONJ ajst-1303 27 27 /playbag /playbag X ajst-1303 27 28 can can AUX ajst-1303 27 29 be be AUX ajst-1303 27 30 found find VERB ajst-1303 27 31 in in ADP ajst-1303 27 32 the the DET ajst-1303 27 33 launch launch NOUN ajst-1303 27 34 script script NOUN ajst-1303 27 35 . . PUNCT ajst-1303 28 1 /cartographer_node /cartographer_node PRON ajst-1303 29 1 and and CCONJ ajst-1303 29 2 / / SYM ajst-1303 29 3 cartographer_occupancy_grid_node cartographer_occupancy_grid_node PROPN ajst-1303 29 4 are be AUX ajst-1303 29 5 the the DET ajst-1303 29 6 key key NOUN ajst-1303 29 7 to to ADP ajst-1303 29 8 the the DET ajst-1303 29 9 whole whole ADJ ajst-1303 29 10 diagram diagram NOUN ajst-1303 29 11 . . PUNCT ajst-1303 30 1 /robot_state_publisher /robot_state_publisher PROPN ajst-1303 30 2 is be AUX ajst-1303 30 3 mainly mainly ADV ajst-1303 30 4 used use VERB ajst-1303 30 5 to to PART ajst-1303 30 6 maintain maintain VERB ajst-1303 30 7 the the DET ajst-1303 30 8 coordinate coordinate NOUN ajst-1303 30 9 transformation transformation NOUN ajst-1303 30 10 relationship relationship NOUN ajst-1303 30 11 between between ADP ajst-1303 30 12 sensor sensor NOUN ajst-1303 30 13 and and CCONJ ajst-1303 30 14 robot robot NOUN ajst-1303 30 15 body body NOUN ajst-1303 30 16 . . PUNCT ajst-1303 31 1 / / PUNCT ajst-1303 31 2 cartographer_node cartographer_node PROPN ajst-1303 31 3 subscribed subscribe VERB ajst-1303 31 4 to to ADP ajst-1303 31 5 / / SYM ajst-1303 31 6 horizontal_laser_2d horizontal_laser_2d NOUN ajst-1303 31 7 and and CCONJ ajst-1303 31 8 / / SYM ajst-1303 31 9 imu imu NOUN ajst-1303 31 10 topics topic NOUN ajst-1303 31 11 , , PUNCT ajst-1303 31 12 which which PRON ajst-1303 31 13 are be AUX ajst-1303 31 14 the the DET ajst-1303 31 15 lidar lidar NOUN ajst-1303 31 16 and and CCONJ ajst-1303 31 17 imu imu NOUN ajst-1303 31 18 data datum NOUN ajst-1303 31 19 played play VERB ajst-1303 31 20 back back ADV ajst-1303 31 21 through through ADP ajst-1303 31 22 / / SYM ajst-1303 31 23 playbag playbag NOUN ajst-1303 31 24 , , PUNCT ajst-1303 31 25 respectively respectively ADV ajst-1303 31 26 . . PUNCT ajst-1303 32 1 based base VERB ajst-1303 32 2 on on ADP ajst-1303 32 3 the the DET ajst-1303 32 4 input input NOUN ajst-1303 32 5 sensor sensor NOUN ajst-1303 32 6 data datum NOUN ajst-1303 32 7 , , PUNCT ajst-1303 32 8 the the DET ajst-1303 32 9 / / SYM ajst-1303 32 10 cartographer_node cartographer_node PROPN ajst-1303 32 11 completes complete VERB ajst-1303 32 12 the the DET ajst-1303 32 13 localization localization NOUN ajst-1303 32 14 and and CCONJ ajst-1303 32 15 subgraph subgraph NOUN ajst-1303 32 16 construction construction NOUN ajst-1303 32 17 and and CCONJ ajst-1303 32 18 publishes publish VERB ajst-1303 32 19 the the DET ajst-1303 32 20 /submap_list /submap_list NOUN ajst-1303 32 21 topic topic NOUN ajst-1303 32 22 . . PUNCT ajst-1303 33 1 / / PUNCT ajst-1303 33 2 cartographer_occupancy_grid_node cartographer_occupancy_grid_node PROPN ajst-1303 33 3 will will AUX ajst-1303 33 4 subscribe subscribe VERB ajst-1303 33 5 to to ADP ajst-1303 33 6 the the DET ajst-1303 33 7 /submap_list /submap_list ADJ ajst-1303 33 8 theme theme NOUN ajst-1303 33 9 and and CCONJ ajst-1303 33 10 build build VERB ajst-1303 33 11 the the DET ajst-1303 33 12 occupancy occupancy NOUN ajst-1303 33 13 raster raster NOUN ajst-1303 33 14 map map NOUN ajst-1303 33 15 according accord VERB ajst-1303 33 16 to to ADP ajst-1303 33 17 the the DET ajst-1303 33 18 subgraph subgraph NOUN ajst-1303 33 19 . . PUNCT ajst-1303 34 1 3.2 3.2 NUM ajst-1303 34 2 . . PUNCT ajst-1303 35 1 official official ADJ ajst-1303 35 2 ros ros PROPN ajst-1303 35 3 package package NOUN ajst-1303 35 4 -cartographer_ros -cartographer_ros PUNCT ajst-1303 35 5 3.2.1 3.2.1 NUM ajst-1303 35 6 . . PUNCT ajst-1303 36 1 source source NOUN ajst-1303 36 2 directory directory NOUN ajst-1303 36 3 of of ADP ajst-1303 36 4 cartographer_ros cartographer_ro NOUN ajst-1303 36 5 the the DET ajst-1303 36 6 files file NOUN ajst-1303 36 7 in in ADP ajst-1303 36 8 this this DET ajst-1303 36 9 directory directory NOUN ajst-1303 36 10 are be AUX ajst-1303 36 11 some some DET ajst-1303 36 12 explanatory explanatory ADJ ajst-1303 36 13 properties property NOUN ajst-1303 36 14 and and CCONJ ajst-1303 36 15 docker docker PROPN ajst-1303 36 16 configuration configuration NOUN ajst-1303 36 17 under under ADP ajst-1303 36 18 different different ADJ ajst-1303 36 19 ros ros PROPN ajst-1303 36 20 environment environment NOUN ajst-1303 36 21 , , PUNCT ajst-1303 36 22 not not PART ajst-1303 36 23 table.the table.the DET ajst-1303 36 24 docs doc NOUN ajst-1303 36 25 directory directory NOUN ajst-1303 36 26 contains contain VERB ajst-1303 36 27 documentation documentation NOUN ajst-1303 36 28 , , PUNCT ajst-1303 36 29 the the DET ajst-1303 36 30 jenkins jenkins PROPN ajst-1303 36 31 directory directory PROPN ajst-1303 36 32 contains contain VERB ajst-1303 36 33 configuration configuration NOUN ajst-1303 36 34 related relate VERB ajst-1303 36 35 to to ADP ajst-1303 36 36 the the DET ajst-1303 36 37 continuous continuous ADJ ajst-1303 36 38 integration integration NOUN ajst-1303 36 39 tool tool NOUN ajst-1303 36 40 jenkins jenkin NOUN ajst-1303 36 41 , , PUNCT ajst-1303 36 42 and and CCONJ ajst-1303 36 43 scripts script NOUN ajst-1303 36 44 contains contain VERB ajst-1303 36 45 some some DET ajst-1303 36 46 automation automation NOUN ajst-1303 36 47 scripts script NOUN ajst-1303 36 48 related relate VERB ajst-1303 36 49 to to ADP ajst-1303 36 50 installation.the installation.the DET ajst-1303 36 51 only only ADJ ajst-1303 36 52 directories directory NOUN ajst-1303 36 53 associated associate VERB ajst-1303 36 54 with with ADP ajst-1303 36 55 cartographer cartographer NOUN ajst-1303 36 56 are be AUX ajst-1303 36 57 cartographer_ros cartographer_ros PROPN ajst-1303 36 58 , , PUNCT ajst-1303 36 59 cartographer_ros_msgs cartographer_ros_msg NOUN ajst-1303 36 60 and and CCONJ ajst-1303 36 61 cartographer_rviz.among cartographer_rviz.among VERB ajst-1303 36 62 them they PRON ajst-1303 36 63 , , PUNCT ajst-1303 36 64 many many ADJ ajst-1303 36 65 msg msg NOUN ajst-1303 36 66 and and CCONJ ajst-1303 36 67 srv srv VERB ajst-1303 36 68 files file NOUN ajst-1303 36 69 are be AUX ajst-1303 36 70 defined define VERB ajst-1303 36 71 in in ADP ajst-1303 36 72 cartographer_ros_msgs cartographer_ros_msg NOUN ajst-1303 36 73 , , PUNCT ajst-1303 36 74 which which PRON ajst-1303 36 75 define define VERB ajst-1303 36 76 various various ADJ ajst-1303 36 77 message message NOUN ajst-1303 36 78 types type NOUN ajst-1303 36 79 for for ADP ajst-1303 36 80 cartographer.cartographer_rviz cartographer.cartographer_rviz PROPN ajst-1303 36 81 is be AUX ajst-1303 36 82 a a DET ajst-1303 36 83 visualization visualization NOUN ajst-1303 36 84 - - PUNCT ajst-1303 36 85 related relate VERB ajst-1303 36 86 project.cartographer_ros project.cartographer_ros PROPN ajst-1303 36 87 here here ADV ajst-1303 36 88 , , PUNCT ajst-1303 36 89 which which PRON ajst-1303 36 90 is be AUX ajst-1303 36 91 the the DET ajst-1303 36 92 main main ADJ ajst-1303 36 93 body body NOUN ajst-1303 36 94 of of ADP ajst-1303 36 95 the the DET ajst-1303 36 96 official official ADJ ajst-1303 36 97 ros ros PROPN ajst-1303 36 98 package package NOUN ajst-1303 36 99 . . PUNCT ajst-1303 37 1 3.2.2 3.2.2 NUM ajst-1303 37 2 . . PUNCT ajst-1303 37 3 source source NOUN ajst-1303 37 4 directory directory NOUN ajst-1303 37 5 of of ADP ajst-1303 37 6 cartographer_ros cartographer_ros PROPN ajst-1303 37 7 launch launch NOUN ajst-1303 37 8 script script NOUN ajst-1303 37 9 three three NUM ajst-1303 37 10 nodes node NOUN ajst-1303 37 11 are be AUX ajst-1303 37 12 loaded load VERB ajst-1303 37 13 and and CCONJ ajst-1303 37 14 run run VERB ajst-1303 37 15 , , PUNCT ajst-1303 37 16 coordinate coordinate NOUN ajst-1303 37 17 transformation transformation NOUN ajst-1303 37 18 is be AUX ajst-1303 37 19 maintained maintain VERB ajst-1303 37 20 , , PUNCT ajst-1303 37 21 cartographer cartographer NOUN ajst-1303 37 22 system system NOUN ajst-1303 37 23 is be AUX ajst-1303 37 24 run run VERB ajst-1303 37 25 for for ADP ajst-1303 37 26 positioning positioning NOUN ajst-1303 37 27 and and CCONJ ajst-1303 37 28 mapping mapping NOUN ajst-1303 37 29 . . PUNCT ajst-1303 38 1 as as SCONJ ajst-1303 38 2 can can AUX ajst-1303 38 3 be be AUX ajst-1303 38 4 seen see VERB ajst-1303 38 5 from from ADP ajst-1303 38 6 the the DET ajst-1303 38 7 figure figure NOUN ajst-1303 38 8 , , PUNCT ajst-1303 38 9 " " PUNCT ajst-1303 38 10 robot_state_publisher robot_state_publisher CCONJ ajst-1303 38 11 " " PUNCT ajst-1303 38 12 maintains maintain VERB ajst-1303 38 13 the the DET ajst-1303 38 14 coordinate coordinate NOUN ajst-1303 38 15 transformation transformation NOUN ajst-1303 38 16 of of ADP ajst-1303 38 17 the the DET ajst-1303 38 18 laser laser NOUN ajst-1303 38 19 sensor sensor NOUN ajst-1303 38 20 and and CCONJ ajst-1303 38 21 imu imu NOUN ajst-1303 38 22 mounted mount VERB ajst-1303 38 23 horizontally horizontally ADV ajst-1303 38 24 and and CCONJ ajst-1303 38 25 vertically vertically ADV ajst-1303 38 26 with with ADP ajst-1303 38 27 respect respect NOUN ajst-1303 38 28 to to ADP ajst-1303 38 29 the the DET ajst-1303 38 30 base base NOUN ajst-1303 38 31 link link NOUN ajst-1303 38 32 . . PUNCT ajst-1303 39 1 " " PUNCT ajst-1303 39 2 cartographer_node cartographer_node NOUN ajst-1303 39 3 " " PUNCT ajst-1303 39 4 maintains maintain VERB ajst-1303 39 5 the the DET ajst-1303 39 6 coordinate coordinate NOUN ajst-1303 39 7 relationship relationship NOUN ajst-1303 39 8 among among ADP ajst-1303 39 9 map map NOUN ajst-1303 39 10 , , PUNCT ajst-1303 39 11 odometer odometer NOUN ajst-1303 39 12 and and CCONJ ajst-1303 39 13 robot robot NOUN ajst-1303 39 14 base base NOUN ajst-1303 39 15 . . PUNCT ajst-1303 40 1 the the DET ajst-1303 40 2 script script NOUN ajst-1303 40 3 backpack_2d.launch backpack_2d.launch VERB ajst-1303 40 4 loads load VERB ajst-1303 40 5 the the DET ajst-1303 40 6 node node PROPN ajst-1303 40 7 " " PUNCT ajst-1303 40 8 cartographer_node cartographer_node PROPN ajst-1303 40 9 " " PUNCT ajst-1303 40 10 , , PUNCT ajst-1303 40 11 which which PRON ajst-1303 40 12 specifies specify VERB ajst-1303 40 13 a a DET ajst-1303 40 14 configuration configuration NOUN ajst-1303 40 15 file file NOUN ajst-1303 40 16 through through ADP ajst-1303 40 17 a a DET ajst-1303 40 18 series series NOUN ajst-1303 40 19 of of ADP ajst-1303 40 20 parameters parameter NOUN ajst-1303 40 21 . . PUNCT ajst-1303 41 1 this this DET ajst-1303 41 2 node node NOUN ajst-1303 41 3 does do VERB ajst-1303 41 4 the the DET ajst-1303 41 5 positioning positioning NOUN ajst-1303 41 6 and and CCONJ ajst-1303 41 7 subgraph subgraph NOUN ajst-1303 41 8 construction.finally construction.finally ADV ajst-1303 41 9 , , PUNCT ajst-1303 41 10 the the DET ajst-1303 41 11 " " PUNCT ajst-1303 41 12 cartographer_occupancy_grid_node cartographer_occupancy_grid_node NOUN ajst-1303 41 13 " " PUNCT ajst-1303 41 14 is be AUX ajst-1303 41 15 loaded load VERB ajst-1303 41 16 to to PART ajst-1303 41 17 merge merge VERB ajst-1303 41 18 the the DET ajst-1303 41 19 subgraphs subgraph NOUN ajst-1303 41 20 into into ADP ajst-1303 41 21 an an DET ajst-1303 41 22 occupancy occupancy NOUN ajst-1303 41 23 raster raster NOUN ajst-1303 41 24 map map NOUN ajst-1303 41 25 and and CCONJ ajst-1303 41 26 publish publish VERB ajst-1303 41 27 it it PRON ajst-1303 41 28 via via ADP ajst-1303 41 29 ros ros PROPN ajst-1303 41 30 themes theme NOUN ajst-1303 41 31 . . PUNCT ajst-1303 42 1 figure figure VERB ajst-1303 42 2 3 3 NUM ajst-1303 42 3 . . PUNCT ajst-1303 43 1 tf tf PROPN ajst-1303 43 2 tree tree NOUN ajst-1303 43 3 the the DET ajst-1303 43 4 simulation simulation NOUN ajst-1303 43 5 test test NOUN ajst-1303 43 6 results result NOUN ajst-1303 43 7 are be AUX ajst-1303 43 8 shown show VERB ajst-1303 43 9 below below ADP ajst-1303 43 10 148 148 NUM ajst-1303 43 11 figure figure NOUN ajst-1303 43 12 4 4 NUM ajst-1303 43 13 . . PUNCT ajst-1303 43 14 simulation simulation NOUN ajst-1303 43 15 renderings rendering NOUN ajst-1303 43 16 4 4 NUM ajst-1303 43 17 . . X ajst-1303 43 18 three three NUM ajst-1303 43 19 - - PUNCT ajst-1303 43 20 platform platform NOUN ajst-1303 43 21 verification verification NOUN ajst-1303 43 22 experimental experimental ADJ ajst-1303 43 23 results result NOUN ajst-1303 43 24 show show VERB ajst-1303 43 25 that that SCONJ ajst-1303 43 26 the the DET ajst-1303 43 27 algorithm algorithm NOUN ajst-1303 43 28 can can AUX ajst-1303 43 29 be be AUX ajst-1303 43 30 implemented implement VERB ajst-1303 43 31 on on ADP ajst-1303 43 32 this this DET ajst-1303 43 33 platform platform NOUN ajst-1303 43 34 . . PUNCT ajst-1303 44 1 figure figure NOUN ajst-1303 44 2 5 5 NUM ajst-1303 44 3 . . PUNCT ajst-1303 44 4 actual actual ADJ ajst-1303 44 5 renderings rendering NOUN ajst-1303 44 6 references reference NOUN ajst-1303 44 7 [ [ X ajst-1303 44 8 1 1 NUM ajst-1303 44 9 ] ] PUNCT ajst-1303 44 10 abdurahman abdurahman NOUN ajst-1303 44 11 dwijotomo dwijotomo PROPN ajst-1303 44 12 et et PROPN ajst-1303 44 13 al al PROPN ajst-1303 44 14 . . PROPN ajst-1303 44 15 cartographer cartographer PROPN ajst-1303 44 16 slam slam PROPN ajst-1303 44 17 method method NOUN ajst-1303 44 18 for for ADP ajst-1303 44 19 optimization optimization NOUN ajst-1303 44 20 with with ADP ajst-1303 44 21 an an DET ajst-1303 44 22 adaptive adaptive ADJ ajst-1303 44 23 multi multi ADJ ajst-1303 44 24 - - ADJ ajst-1303 44 25 distance distance ADJ ajst-1303 44 26 scan scan ADJ ajst-1303 44 27 scheduler[j scheduler[j NOUN ajst-1303 44 28 ] ] PUNCT ajst-1303 44 29 . . PUNCT ajst-1303 45 1 applied apply VERB ajst-1303 45 2 sciences science NOUN ajst-1303 45 3 , , PUNCT ajst-1303 45 4 2020 2020 NUM ajst-1303 45 5 , , PUNCT ajst-1303 45 6 10(1 10(1 NUM ajst-1303 45 7 ) ) PUNCT ajst-1303 46 1 [ [ X ajst-1303 46 2 2 2 X ajst-1303 46 3 ] ] PUNCT ajst-1303 46 4 hoshi hoshi PROPN ajst-1303 46 5 masahiko masahiko PROPN ajst-1303 46 6 and and CCONJ ajst-1303 46 7 hara hara PROPN ajst-1303 46 8 yoshitaka yoshitaka PROPN ajst-1303 46 9 and and CCONJ ajst-1303 46 10 nakamura nakamura PROPN ajst-1303 46 11 sousuke sousuke PROPN ajst-1303 46 12 . . PUNCT ajst-1303 47 1 graph graph NOUN ajst-1303 47 2 - - PUNCT ajst-1303 47 3 based base VERB ajst-1303 47 4 slam slam NOUN ajst-1303 47 5 using use VERB ajst-1303 47 6 architectural architectural ADJ ajst-1303 47 7 floor floor NOUN ajst-1303 47 8 plans plan NOUN ajst-1303 47 9 without without ADP ajst-1303 47 10 loop loop NOUN ajst-1303 47 11 closure[j closure[j NOUN ajst-1303 47 12 ] ] PUNCT ajst-1303 47 13 . . PUNCT ajst-1303 48 1 advanced advanced ADJ ajst-1303 48 2 robotics robotic NOUN ajst-1303 48 3 , , PUNCT ajst-1303 48 4 2022 2022 NUM ajst-1303 48 5 , , PUNCT ajst-1303 48 6 36(15 36(15 NUM ajst-1303 48 7 ) ) PUNCT ajst-1303 48 8 : : PUNCT ajst-1303 48 9 715 715 NUM ajst-1303 48 10 - - SYM ajst-1303 48 11 723 723 NUM ajst-1303 48 12 . . PUNCT ajst-1303 49 1 [ [ X ajst-1303 49 2 3 3 X ajst-1303 49 3 ] ] X ajst-1303 49 4 eldemiry eldemiry PROPN ajst-1303 49 5 amr amr PROPN ajst-1303 49 6 et et PROPN ajst-1303 49 7 al al PROPN ajst-1303 49 8 . . PROPN ajst-1303 49 9 autonomous autonomous PROPN ajst-1303 49 10 exploration exploration NOUN ajst-1303 49 11 of of ADP ajst-1303 49 12 unknown unknown ADJ ajst-1303 49 13 indoor indoor ADJ ajst-1303 49 14 environments environment NOUN ajst-1303 49 15 for for ADP ajst-1303 49 16 high high ADJ ajst-1303 49 17 - - PUNCT ajst-1303 49 18 quality quality NOUN ajst-1303 49 19 mapping mapping NOUN ajst-1303 49 20 using use VERB ajst-1303 49 21 feature feature NOUN ajst-1303 49 22 - - PUNCT ajst-1303 49 23 based base VERB ajst-1303 49 24 rgb rgb PROPN ajst-1303 49 25 - - PROPN ajst-1303 49 26 d d PROPN ajst-1303 49 27 slam[j slam[j PROPN ajst-1303 49 28 ] ] PUNCT ajst-1303 49 29 . . PUNCT ajst-1303 50 1 sensors sensor NOUN ajst-1303 50 2 , , PUNCT ajst-1303 50 3 2022 2022 NUM ajst-1303 50 4 , , PUNCT ajst-1303 50 5 22(14 22(14 NUM ajst-1303 50 6 ) ) PUNCT ajst-1303 50 7 : : PUNCT ajst-1303 50 8 5117 5117 NUM ajst-1303 50 9 - - SYM ajst-1303 50 10 5117 5117 NUM ajst-1303 50 11 . . PUNCT