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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


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ekfSLAMPerform simultaneous localization and mapping using extended Kalman filter
correctCorrect state and state error covariance
landmarkInfoRetrieve landmark information
poseHistoryRetrieve corrected and predicted pose history
predictPredict state and state error covariance
removeLandmarkRemove landmark from state vector
resetReset state and state estimation error covariance
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
poseGraph Create 2-D pose graph
poseGraph3D Create 3-D pose graph
poseplot3-D pose plot
addPointLandmarkAdd landmark point node to pose graph
addRelativePoseAdd relative pose to pose graph
edgeNodePairsEdge node pairs in pose graph
edgeConstraintsEdge constraints in pose graph
edgeResidualErrorsCompute pose graph edge residual errors
findEdgeIDFind edge ID of edge
nodeEstimatesPoses of nodes in pose graph
optimizePoseGraphOptimize nodes in pose graph
removeEdgesRemove loop closure edges from graph
showPlot pose graph
trimLoopClosuresOptimize pose graph and remove bad loop closures
factorGraphBipartite graph of factors and nodes
factorGraphSolverOptionsSolver options for factor graph
importFactorGraphImport factor graph from g2o log file
factorIMUConvert IMU readings to factor
factorIMUParametersFactor IMU parameters
factorGPSFactor for GPS measurement
factorTwoPoseSE2Factor relating two SE(2) poses
factorTwoPoseSE3Factor relating two SE(3) poses
factorPoseSE2AndPointXYFactor relating SE(2) position and 2-D point
factorPoseSE3AndPointXYZFactor relating SE(3) position and 3-D point
factorIMUBiasPriorPrior factor for IMU bias
factorVelocity3PriorPrior factor for 3-D velocity
factorPoseSE3PriorFull-state prior factor for SE(3) pose
factorCameraSE3AndPointXYZFactor relating SE(3) camera pose and 3-D point
estimateGravityDirectionEstimate gravity rotation using IMU measurements and factor graph optimization
estimateGravityDirectionAndPoseScaleEstimate gravity rotation and pose scale using IMU measurements and factor graph optimization