Figure 5. SLAM Result using Cartographer (a) before loop closing, (b) after loop closing

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