지난 ROSCON 2019에서 SLAM toolbox 라는 것이 소개되었었네요 video: https://vimeo.com/3786822
SLAM/resources 2019. 12. 23. 12:11지난 ROSCON 2019에서
SLAM toolbox 라는 것이 소개되었었네요
video: https://vimeo.com/378682207
slide: https://roscon.ros.org/2019/talks/roscon2019_slamtoolbox.pdf
code: https://github.com/SteveMacenski/slam_toolbox
abstract:
We introduce the SLAM Toolbox. It implements synchronous and asynchronous SLAM for massive indoor and changing environments as well as life-long mapping and localization modes. SLAM Toolbox brings several improvements over the existing solutions. This includes plugin optimizers with default Ceres, speed-ups in Karto's scan matcher, pose-graph manipulation tools, serialization, continued mapping on serialized SLAM graphs, pose-graph localization rolling window technique as a replacement for AMCL, and enables fully distributed mapping without the use of derived 2D occupancy image maps. This package was built for mapping of massive retail and warehouse applications, though likely effective out of those scopes. This talk will go over key points of SLAM Toolbox, demonstrations in production environments, and how to enable it in your application.
