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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.


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


lidarSLAM Perform localization and mapping using lidar scans


addScanAdd scan to lidar SLAM map
buildMapBuild occupancy map from lidar scans
removeLoopClosures Remove loop closures from pose graph
scansAndPoses Extract scans and corresponding poses
showPlot scans and robot poses

Featured Examples