Application: icp-slam

Overview

icp-slam is a command-line application that builds a 2D metric map (occupancy grid and/or point cloud) from a recorded dataset (rawlog file) using ICP-based SLAM (Iterative Closest Point Simultaneous Localization and Mapping).

It is based on mrpt::slam::CMetricMapBuilderICP and supports:

  • Occupancy grid map building from 2D laser scans.

  • Optional 3D visualization of the robot trajectory and the growing map.

  • Saving the resulting map and robot path to files.

A companion application, icp-slam-live, provides the same functionality but reads sensor data in real-time from hardware drivers instead of a rawlog file.

Usage

icp-slam  [--help] <config_file.ini> [dataset.rawlog]

Arguments:

Argument

Description

Path to an INI-style configuration file (see below). (Optional) Path to the rawlog file. Overrides the value in the config file.

File Contents ==== ===========================================

Sub-sequence rawlog (optional). Final serialized metric map. Robot trajectory as a sequence of 2D poses. Rendered occupancy grid image.