Cartographer
Google's real-time 2D and 3D SLAM system that builds globally consistent maps across many sensor configurations.
Cartographer
Cartographer is a real-time simultaneous localization and mapping (SLAM) system from Google that builds globally consistent maps in 2D and 3D across multiple sensor configurations. It is a foundational, production-grade SLAM library widely used on mobile robots and throughout the ROS ecosystem.
Key features
- Real-time 2D and 3D SLAM fusing LiDAR, IMU, odometry, and optional fixed-frame (GPS) inputs
- Local SLAM (scan matching into submaps) combined with global loop-closure via sparse pose-graph optimization
- Branch-and-bound scan matching for fast, robust loop detection
- Sensor-agnostic design supporting many robot platforms and configurations
- Companion cartographer_ros integration for the ROS / ROS 2 navigation stack
Cartographer delivers accurate, drift-corrected maps for indoor and outdoor autonomous navigation and remains a reference implementation for graph-based SLAM.
Curated mirror of the open-source Cartographer (Apache-2.0). Get it from the source.
Compromise signals — malicious or tampered code (leaked secrets, backdoors, a dropped executable) — reduce the score, and known dependency CVEs carry a bounded penalty (they warrant review but never QUARANTINE — update the dependency to clear). Other dangerous-by-capability traits are risk surface, expected for some capabilities. Every finding is mapped to its OWASP control below.
Findings mapped to the OWASP Top 10 for LLM Applications (2025) and the OWASP Machine Learning Security Top 10. Expand any flagged control for the exact findings — compromise reduces the score; expected/risk-surface do not, except a known CVE, which carries a small bounded penalty (high/critical → Review).
The same gate an agent runs before installing (POST /api/v1/trust/google-cartographer-slam/check). Click a policy:
Consume Cartographer programmatically. Authenticate with an API key or session — see Authorize an agent.
# Agents: CHECK BEFORE YOU INSTALL (no auth) — score, grade, level, capability manifest
curl https://ai-supply.store/api/v1/trust/google-cartographer-slam
# Gate against your org policy (returns { pass, violations })
curl -X POST https://ai-supply.store/api/v1/trust/google-cartographer-slam/check \
-H "Content-Type: application/json" \
-d '{"minGrade":"B","denyPermissions":["shell"],"denyUnknownEgress":true}'
# CLI
npx ai-supply add google-cartographer-slam
# REST (install → download)
curl -X POST https://ai-supply.store/api/v1/listings/google-cartographer-slam/install \
-H "Authorization: Bearer $AIM_KEY"
# MCP tool
install_listing({ "slug": "google-cartographer-slam" })OpenAPI spec →Curated mirror — latest upstream source. See the repository for tagged releases.