Steve Macenski (Samsung Research America)
We introduce the SLAM Toolbox. It implements synchronous and asynchronous SLAM for massive indoor and changing environments as well as life-long mapping and localization modes. SLAM Toolbox brings several improvements over the existing solutions. This includes plugin optimizers with default Ceres, speed-ups in Karto's scan matcher, pose-graph manipulation tools, serialization, continued mapping on serialized SLAM graphs, pose-graph localization rolling window technique as a replacement for AMCL, and enables fully distributed mapping without the use of derived 2D occupancy image maps. This package was built for mapping of massive retail and warehouse applications, though likely effective out of those scopes. This talk will go over key points of SLAM Toolbox, demonstrations in production environments, and how to enable it in your application.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.