2D MAPPING SYSTEM USING THE GOOGLE CARTOGRAPHER SLAM ALGORITHM AND RPLIDAR
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This work presents the design and implementation of a 2D autonomous navigation mapping system which uses SLAM algorithm provided by Google Cartographer and RPLiDAR. The proposed system will allow us to have an estimation about the location of the robot along with the map of the environment at the same time. The system is able to solve some limitations of previous techniques like mapping inaccuracy, drift, and heavy computations. Real-time loop closing and pose graph optimization are some of the techniques used in this system to enhance the mapping ability of the system. Methodology includes simulation with the help of MATLAB in order to analyze sensor data obtained through MATLAB. In addition to that, scan matching and path estimation are two other techniques that are employed. After that, implementation of a real-time algorithm using RPLiDAR is done. The results obtained from the mapping procedure are highly accurate.
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Eram, S. R., Jashwanth, B., Anjali, B. & Shivani, P. (2026). 2D Mapping System using the Google Cartographer SLAM Algorithm and RPLIDAR. International Journal of Science, Strategic Management and Technology, 02(04). https://doi.org/10.55041/ijsmt.v2i4.517
Eram, Shaik, et al.. "2D Mapping System using the Google Cartographer SLAM Algorithm and RPLIDAR." International Journal of Science, Strategic Management and Technology, vol. 02, no. 04, 2026, pp. . doi:https://doi.org/10.55041/ijsmt.v2i4.517.
Eram, Shaik,Bestha Jashwanth,Banda Anjali, and Paccha Shivani. "2D Mapping System using the Google Cartographer SLAM Algorithm and RPLIDAR." International Journal of Science, Strategic Management and Technology 02, no. 04 (2026). https://doi.org/https://doi.org/10.55041/ijsmt.v2i4.517.
References
2.Cartographer – “Real‑time loop closure in 2D LIDAR SLAM” – W. Hess et al., ICRA 2016
3.F‑LOAM – “F‑LOAM : Fast LiDAR Odometry and Mapping” – H. Wang et al., IROS 2021
4.“Research on Cartographer Algorithm Based on Low‑Cost LiDAR” – Cui Zhi, Shi Xiumin, IJERT, Vol. 8 Issue 10, 2019
5.“Evaluation of Lidar‑based 3D SLAM algorithms in SubT environment” – A. Koval, C. Kanellakis, G. Nikolakopoulos, 2023 (IFAC)
6.“LiDAR‑based SLAM for robotic mapping: state of the art and new frontiers” – Xiangdi Yue et al., 2023
7.LeGO‑LOAM – “LeGO‑LOAM: Lightweight and Ground‑Optimized Lidar Odometry and Mapping on Variable Terrain” – T. Shan, B. Englot, IROS 2018
8.“A Comparative Survey of LiDAR‑SLAM and LiDAR‑based Sensor Technologies” – M. U. Khan et al., IEEE MAJICC 2021
9.“A Survey of SLAM Research based on LiDAR Sensors” – Yang & Li, 2019
10.“Evaluation of Lidar‑based 3D SLAM algorithms in SubT environment” – A. Koval, C. Kanellakis, G. Nikolakopoulos, 2023 (IFAC)
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