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[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
| Date | Stars |
|---|---|
| 2026-07-24 | 363 |
| 2026-07-25 | 364 |
| 2026-07-28 | 364 |
| 2026-07-30 | 364 |
| 2026-08-06 | 364 |
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<!-- PROJECT LOGO -->
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<a href="https://github.com/MaverickPeter/MR_SLAM">
<img src="imgs/dog-slam-cloud-full.png" alt="Logo" width="800" height="510">
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<h2 align="center">MR_SLAM</h2>
<p align="center">
A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
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<a href="https://youtu.be/HY3bIPKINwk">View Demo</a>
·
<a href="https://github.com/MaverickPeter/MR_SLAM/issues">Report Bug</a>
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<a href="https://github.com/MaverickPeter/MR_SLAM/issues">Request Feature</a>
</p>
</div>
<div align="center">
<a href="https://youtu.be/HY3bIPKINwk" target="_blank"><img src="imgs/legged_robots_demo.jpg" alt="video" width="48%" /></a>
<a href="https://youtu.be/MbjN_9PfxK0" target="_blank"><img src="imgs/NCLT_demo.jpg" alt="video" width="48%" /></a>
</div>
<!-- TABLE OF CONTENTS -->
<details>
<summary>Table of Contents</summary>
<ol>
<li>
<a href="#about-the-project">About The Project</a>
</li>
<li>
<a href="#getting-started">Getting Started</a>
<ul>
<li><a href="#prerequisites">Prerequisites</a></li>
<li><a href="#installation">Installation</a></li>
</ul>
</li>
<li><a href="#quick-demo">Quick Demo</a></li>
<li><a href="#full-usage">Full Usage</a></li>
<li><a href="#docker">Docker</a></li>
<li><a href="#roadmap">Roadmap</a></li>
<li><a href="#citation">Citation</a></li>
<li><a href="#contributing">Contributing</a></li>
<li><a href="#license">License</a></li>
<li><a href="#contact">Contact</a></li>
</ol>
</details>
<!-- ABOUT THE PROJECT -->
## **About The Project**
This is a C++ library with ROS interfaces to manage multi-robot maps. It contains a pluggable front-end [FAST-LIO2](https://github.com/hku-mars/FAST_LIO) / [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM), pluggable loop closure methods [DiSCO](https://ieeexplore.ieee.org/document/9359460) / [RING](https://ieeexplore.ieee.org/abstract/document/9981308) / [RING++](https://ieeexplore.ieee.org/abstract/document/10224330) / [ScanContext](https://ieeexplore.ieee.org/document/8593953). and a global manager that handles submaps, loop candidates and optimization results. The optimizer is mainly based on [GTSAM](https://github.com/borglab/gtsam) and [dist-mapper](https://github.com/CogRob/distributed-mapper). The system provides a 3D pointcloud map and an optional 2.5D elevation map output. The output elevation map can be easily converted to a costmap for navigation.
**Author: Peter XU (Xuecheng XU)<br />
Affiliation: [ZJU-Robotics Lab](https://github.com/ZJU-Robotics-Lab)<br />
Maintainer: Peter XU, [email protected]<br />**
<p align="right">(<a href="#readme-top">back to top</a>)</p>
## **NEWS (Sept, 2023): Support front-end odometry - A-LOAM.**
(Sept, 2023): Support front-end odometry - A-LOAM.
(Aug, 2023): RING++ is accepted for T-RO! For detailed evaluation, please refer to [RING/RING++](https://github.com/lus6-Jenny/RING).
(July, 2023) Support RING++ in LoopDetection.
(April, 2023) Support single robot application.
(Jan, 2023) Support PCM (Pairwise Consistent Measurement) for robustness.
A Chinese version of [Tutorial](https://maverickpeter.github.io/2022/11/03/MR_SLAM-tutorial/) is posted on my blog.
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## **Getting Started**
Here, we provide an example to demonstrate the system. Some parameters can be changed to fit your needs.
### **Prerequisites**
This software is built on the Robotic Operating System ([ROS](http://wiki.ros.org) tested on kinetic, melodic and noetic), which needs to be [installed](http://wiki.ros.org/ROS/Installation) first. Additionally, the MR_SLAM depends on the following software:
* [Eigen](http://eigen.tuxfamily.org) (linear algebra library, tested on 3.2.9 & 3.3.4; elevation_mapping faileExcerpt of 15,776 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:66aef1c8da208a89, topic:slam, readme:robotics, name:slam