From Damon Kohler, Wolfgang Hess, and Holger Rapp, Google Engineering
We are happy to announce the open source release of Cartographer, a real-time SLAM library in 2D and 3D with ROS support.
Cartographer builds globally consistent maps in real-time across a broad range of sensor configurations common in academia and industry. The following video is a demonstration Cartographer's real-time loop closure:
A detailed description of Cartographer's 2D algorithms can be found in our ICRA 2016 paper.
Thanks to ROS integration and support from external contributors, Cartographer is ready to use on several robot platforms with ROS support:
At Google, Cartographer has enabled a range of applications from mapping museums and transit hubs to enabling new visualizations of famous buildings.
We recognize the value of high quality datasets to the research community. That's why, thanks to cooperation with the Deutsches Museum (the largest tech museum in the world), we are also releasing three years of LIDAR and IMU data collected using our 2D and 3D mapping backpack platforms during the development and testing of Cartographer.
Our focus is on advancing and democratizing SLAM as a technology. Currently, Cartographer is heavily focused on LIDAR SLAM. Through continued development and community contributions, we hope to add both support for more sensors and platforms as well as new features, such as lifelong mapping and localizing in a pre-existing map.
