I'm the author of this blog post. You are right that the SLAM dead reckoning trajectory will drift. We are developing a mapping back-end where we register tra

I'm the author of this blog post. You are right that the SLAM dead reckoning trajectory will drift. We are developing a mapping back-end where we register trajectories to consumer-grade GPS data, performing loop closure, and then doing a batch ICP-like optimization over multiple drives. This mostly eliminates drift as GPS, noisy as it may be, is mostly zero-mean over large areas. Moving objects are mostly removed or ignored. We are primarily interested in mapping urban environments for now. The SLAM does not work very well in a featureless corn field.