2022 IB Diploma Extended Essays

The result is in line with the expectation. The problem being that the robot lost track, this causes the map to reset, furthermore, this leads to the pose to zero update. In order to fix this the raw data needs to initialize each fragment with data from the lidar. As they have the same path trajectory. Using this approach can allow additional information from the sensor about pose on straight segments. This leads to the following updated results.