2D LiDAR Only SLAM
A CUDA accelerated 2D LiDAR SLAM algorithm running in real time on ROS1.
A 2D SLAM algorithm that uses nothing but a planar LiDAR, written in C++ for ROS1 and accelerated with CUDA so it runs in real time.
The frontend estimates motion using a Fourier Mellin Transform, which recovers rotation and translation between scans in the frequency domain. The backend closes loops and optimizes the pose graph using SE-Sync, a certifiably correct graphSLAM solver.