Wide-Area Indoor and Outdoor Real-Time 3D SLAM

University of California, Berkeley
Open source code available at: github.com/eri...
Real-time 3D SLAM with a VLP-16 LiDAR. Point cloud resolution is 5 centimeters. Grid cells on the ground are 10 x 10 meters. No other sensors used. Loop closures are computed by ICP scan matching with scans from nearby poses, using GTSAM as a back-end.