### Jethro's Braindump

Google Cartographer provides a real-time solution for indoor mapping in the form of a sensor-equipped backpack that generates 2D grid maps with a $$r = 5cm$$ resolution (Hess et al., 2016). It is built to scale to large maps, where previous approaches face issues. For example, particle filter SLAM (Simultaneous Localization and Mapping (SLAM)) approaches become resource intensive as maps become large, since each particle filter must maintain a representation of the full system state in each particle.