HectorGrapher is a robust, continuous-time SLAM framework for mobile rescue robots, forked from Cartographer. The framework is developed for the needs of robust and efficient 3D SLAM for the mobile ground robots used for urban search and rescue research at Team Hector and the German Center for Rescue Robotics (DRZ).
We provide data sets with ground truth data from a Qualisys motion capture system. The data can be downloaded here.
| Continuous Ramps | Woodpile | RoboCup Rescue League: Maneuvering 3 - Traverse | RoboCup Rescue League: Mobility 4 - Elevated Ramps |
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Coming soon!
Thank you for citing HectorGrapher (SSRR-2021) if you use any of this code.
@inproceedings{hectorgrapher21,
author = {Kevin Daun and Marius Schnaubelt and Stefan Kohlbrecher and Oskar von Stryk},
title = {HectorGrapher: Continuous-time Lidar SLAM with Multi-resolution Signed Distance Function Registration for Challenging Terrain},
year = {2021},
booktitle = {Proceedings of 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (accepted)},
}