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Cartographer is a system that provides real-time SLAM in 2D and 3D across multiple platforms and sensor configurations.


You will find complete documentation for using Cartographer with ROS at our Read the Docs site.


See our GitHub organization.

How to cite us

Background about the algorithms developed for Cartographer can be found in the following publication. If you use Cartographer for your research, we would appreciate it if you cite our paper.

W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016. pp. 1271–1278.

title = {Real-Time Loop Closure in 2D LIDAR SLAM},
author  = {Wolfgang Hess and Damon Kohler and Holger Rapp and Daniel Andor},
year  = 2016,
booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1271--1278}

2024-06-15 12:30