PolySLAM is a 2D SLAM algorithm developed as part of the PhD of Johann Dichtl. It builds vector-based maps, out of laser scans. The resulting map is a collection of polygons.

We have a running implementation in Pharo.

Data sets used in evaluation of the algorithm:

• loop (bag file)
• cross (bag file)
• maze (bag file)
• willow garage (bag file)
• zigzag (bag file)
• dia (bag file) note: collected with a turtlebot2 in our department
• intel research lab (bag file) note: converted from carmen to rosbag