A Loop Closure Matching Method Based on Simulated Annealing Algorithm in 2D Lidar SLAM

Simultaneous Localization and Mapping (SLAM) based on 2D lidar has always been a hot topic in the field of mobile robots, which endows mobile robots with the ability to sense the unknown environment in real-time. Loop closure detection technology can effectively reduce accumulative error and improve the mapping effect, which is an important part of 2D laser SLAM. This paper proposes a loop closure scan matching method based on simulated annealing algorithm to speed up the process of loop closure detection. According to experimental data, this method performs better in real-time and is more adaptable when building maps of big indoor scenes than the conventional loop closure detection process.