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what are the current state-of-the-art SLAM algorithms for these scenarios?

asked 2016-11-07 17:15:09 -0500

mape1082 gravatar image

Hi, Have found that SLAM is not an algorithm but a framework for localization and mapping. After searching, found that it has been around for 30 years and many approaches have been taken to solve the problem.

I would like know the current state-of-the-art, solid and proven SLAM algorithm for the following scenarios, applicable to an autonomous ground vehicle:

1 Indoor (from a small area such as a room, up to a full floor) 1.1 LiDAR + Odometry/IMU 1.2 LiDAR + Odometry/IMU + Camera

2 Outdoor (from a small parking lot to potentially large areas) 2.1 LiDAR + Odometry/IMU 2.2 LiDAR + Odometry/IMU + Camera

The Google's Cartographer, was opens sourced recently. However I am not sure whether it can be used for 2D, or if it can be used for outdoors.

If possible give a pointer to a supporting paper, or a place showing results. Also, please indicate if the implementation is already available in ROS.

Many thanks.

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Try reading some papers yourself.

huanxiner gravatar imagehuanxiner ( 2016-11-07 23:45:33 -0500 )edit

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answered 2016-12-01 02:31:00 -0500

damonkohler gravatar image

Cartographer is state-of-the-art and works indoors/outdoors in 2D/3D. We published a paper on our 2D algorithms here: http://static.googleusercontent.com/m...

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Asked: 2016-11-07 17:15:09 -0500

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Last updated: Dec 01 '16