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SLAM

2-D and 3-D simultaneous localization and mapping

Simultaneous localization and mapping (SLAM) uses both Mapping and Localization and Pose Estimation algorithms to build a map and localize your vehicle in that map at the same time. Use lidarSLAM to tune your own SLAM algorithm that processes lidar scans and odometry pose estimates to iteratively build a map. Use buildMap to take logged and filtered data to create a map using SLAM. The SLAM Map Builder app lets you manually modify relative poses and align scans to improve the accuracy of your map.

Apps

SLAM Map BuilderBuild 2-D grid maps using lidar-based SLAM

Objects

lidarSLAM Perform localization and mapping using lidar scans
poseGraph Create 2-D pose graph
poseGraph3D Create 3-D pose graph

Functions

buildMapBuild occupancy map from lidar scans
addScanAdd scan to lidar SLAM map
addRelativePoseAdd relative pose to pose graph
optimizePoseGraphOptimize nodes in pose graph
removeLoopClosures Remove loop closures from pose graph
scansAndPoses Extract scans and corresponding poses

Featured Examples