Cartographer ROS for the Audi Autonomous Driving Dataset (A2D2)

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLAM for the Audi Autonomous Driving Dataset (A2D2) via A2D2 ROS Preparer and Cartographer ROS.

Running Cartographer on the ROS-prepared A2D2 dataset provides locally accurate trajectories with the vehicle's poses over time. This repository provides the parameters and configuration files for the Cartographer ROS.