Lecture 12 - Modern SLAM: Cartographer

Overview:

This final lecture in the Mapping & Localization Module goes over how modern day SLAM is used in google cartographer. We go over what is google cartographer, its frontend and backend, and how to install and use it. This method is important because it reduces the computation requirements of computing loop closure constraints as compared to the basic scan matching algorithms.

Topics Covered:

• Google cartographer

Slides:

Links to additional resources:

• Google Cartographer

• Efficient Sparse Pose Adjustment for 2D Mapping

• A Tutorial on Graph-Based SLAM

• Real-Time Correlative Scan Matching

• Probabilistic Robotics

• Robotics and Cognitive Approaches to Spatial Mapping (Chapter 37)

• Simultaneous Localization and Mapping (SLAM): Part I The Essential Algorithms:

• Past, Present, and Future of Simultaneous Localization and Mapping: Towards the Robust-Perception Age

• Real-Time Loop Closure in 2D LIDAR SLAM

• g2o: A general Framework for (Hyper) Graph Optimization

• Ceres Solver