# SLAM-based mapping without GPS/IMU

**URL:** https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488
**Category:** LidarView, Lidar, and SLAM
**Created:** [February 3, 2020, 10:01am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488 "2020-02-03T10:01:34Z")
**Posts on this page:** 5
**Page:** 1

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### Author: ![henrydice](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/h/848f3c/32.png) [@henrydice](https://discourse.paraview.org/u/henrydice)
#### Post date: [February 3, 2020, 10:01am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488/1 "2020-02-03T10:01:34Z")

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Hello,

I recorded .pcap files with a VLP-16 lidar and I would like to perform SLAM-based mapping **without** GPS/IMU, does anyone know how to do that ?

Thanks in advance,

H

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### Author: ![mwestphal](https://discourse.paraview.org/user_avatar/discourse.paraview.org/mwestphal/32/17_2.png) [@mwestphal](https://discourse.paraview.org/u/mwestphal)
#### Post date: [February 3, 2020, 10:24am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488/2 "2020-02-03T10:24:43Z")

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Are you using ParaView or LidarView ?

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### Author: ![henrydice](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/h/848f3c/32.png) [@henrydice](https://discourse.paraview.org/u/henrydice)
#### Post date: [February 3, 2020, 10:40am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488/3 "2020-02-03T10:40:09Z")

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Hello,

I am currently using LidarView.

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### Author: ![mwestphal](https://discourse.paraview.org/user_avatar/discourse.paraview.org/mwestphal/32/17_2.png) [@mwestphal](https://discourse.paraview.org/u/mwestphal)
#### Post date: [February 3, 2020, 10:42am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488/4 "2020-02-03T10:42:18Z")

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There is not many LidarView users on this discourse.

@bastien.jacquet may be able to help though.

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### Author: ![bastien.jacquet](https://discourse.paraview.org/user_avatar/discourse.paraview.org/bastien.jacquet/32/1067_2.png) [@bastien.jacquet](https://discourse.paraview.org/u/bastien.jacquet)
#### Post date: [April 27, 2021, 9:26am UTC](https://discourse.paraview.org/t/slam-based-mapping-without-gps-imu/3488/5 "2021-04-27T09:26:19Z")

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Hello and thanks for contacting Kitware,

You can check our Webinar on “How to SLAM with LidarView” : [How to SLAM with LidarView on Vimeo](https://vimeo.com/524848891)

Please be sure to investigate the SLAM parameters as explained [there](https://gitlab.kitware.com/keu-computervision/slam/-/blob/master/paraview_wrapping/doc/How_to_SLAM_with_LidarView.md#slam-parameters-tuning) because specific hardware setup and environments may need different parameter tuning.

Please notice that IMU/GPS/GNSS/INSS data are not used in the public version, the SLAM only uses the lidar points.

You can [ask to the open source community](https://discourse.paraview.org/) if you have questions; or open a specific [algorithm-related SLAM issue](https://gitlab.kitware.com/keu-computervision/slam/-/issues) or [LidarView UI](https://gitlab.kitware.com/LidarView/lidarview/-/issues) one; or even submit a patch in the open source spirit. But that’s without warranties.

If you need professional support, Kitware does offer paid support, to help specific company projects getting off the ground.  
We can also carry on full project development on contract, since that’s actually our business model.

[Bastien Jacquet, PhD](https://www.linkedin.com/in/bastienjacquet/detail/recent-activity/shares/)  
Director of Computer Vision  
[Kitware Europe](http://www.kitware.eu/)