Laser SLAM optimization based on resampling

In order to solve the particle degradation and particle exhaustion in the simultaneous positioning and map construction method of Rao-Blackwellized particle filter, an optimization method for simultaneous positioning and map construction is proposed. In order to alleviate the need for too much data in the re-sampling stage, the calculation time is longer, and the calculation amount is reduced by dropping some low-weight particles and reducing the number of particles. The experimental results show that compared with the traditional RBPF-SLAM method, the improved method can obtain a more accurate map with fewer particles, reduce the number of Kalman particle filtering, and reduce the amount of calculation to meet the needs of actual use.