Velodyne SLAM


On this website you can find additional material on the paper presented 2011 at the IEEE Intelligent Vehicles Symposium in Baden Baden, Germany.

Paper and Bibtex

Paper (pdf)

        Address = {Baden-Baden, Germany},
        Author = {Frank Moosmann and Christoph Stiller},
        Booktitle = {Proceedings of the {IEEE} Intelligent Vehicles Symposium},
        Language = {english},
        Month = {June},
        Pages = {393--398},
        Title = {Velodyne {SLAM}},
        Url = {},
        Year = {2011},
        Bdsk-Url-1 = {}


The dataset used for evaluation and some software tools can be found here.


The complete development source code can be found here.


To be able to view the video, a recent browser (like Opera 10.5+, Firefox 3.5+, or Chrome 3+) has to be used.

The following video shows the input data, the mapping, and the generated map: