Figure 4. SLAM Result (a)Cartographer, (b)KARTO

From

Experimental comparison of the Simultaneous Localization and Mapping Schemes in the Practical Environments Using the Robot Operating System

Ju-Min Kim, Ha Jeong Seok, Chang-bae Moon

Journal of Automation and Control. 2018, 6(1), 15-18 doi:10.12691/automation-6-1-2