Table 9.

Default, tuning and final values for KARTO-SLAM.

		Test Values
Variable	Default	Minimum	Maximum	Final
scan_buffer_size	70	30	100	30
link_match_minimum_response_fine	0.12	0.06	0.18	0.18
loop_match_minimum_chain_size	10	5	15	15
loop_match_maximum_variance_coarse	0.4	0.3	0.5	0.3
loop_match_minimum_response_coarse	0.80	0.75	0.85	0.75
loop_match_minimum_response_fine	0.80	0.75	0.85	0.75
correlation_search_space_dimension	0.3	0.2	0.4	0.2
correlation_search_space_smear_deviation	0.03	0.03	0.04	0.04
loop_search_space_dimension	8.0	7.0	9.0	7.0
loop_search_space_smear_deviation	0.03	0.03	0.04	0.04
distance_variance_penalty	0.3	0.2	0.4	0.2
angle_variance_penalty	0.349	0.249	0.449	0.449
fine_search_angle_offset	0.00349	0.00249	0.00449	0.00449
coarse_search_angle_offset	0.349	0.249	0.449	0.449
coarse_angle_resolution	0.0349	0.0249	0.0449	0.0449
minimum_angle_penalty	0.90	0.85	0.95	0.95
minimum_distance_penalty	0.5	0.4	0.6	0.4
use_response_expansion	False	False	True	True