Maplab 2.0 - A Modular and Multi-Modal Mapping Framework

Integration of multiple sensor modalities and deep learning into Simultaneous Localization And Mapping (SLAM) systems are areas of significant interest in current research. Multi- modality is a stepping stone towards achieving robustness in chal- lenging environments and interoperability of heterogeneous multi- robot systems with varying sensor setups. With maplab 2.0, we provide a versatile open-source platform that facilitates developing, testing, and integrating new modules and features into a fully- fledged SLAM system. Through extensive experiments, we show that maplab 2.0’s accuracy is comparable to the state-of-the-art on the HILTI 2021 benchmark. Additionally, we showcase the flex- ibility of our system with three use cases: i) large-scale (∼10 km) multi-robot multi-session (23 missions) mapping, ii) integration of non-visual landmarks, and iii) incorporating a semantic object- based loop closure module into the mapping framework. The code is available open-source at https://github.com/ethz-asl/maplab.