⬡PipelineRobotics & ControlFree
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.