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Present and future of slam in extreme environments: The darpa subt challenge
This article surveys recent progress and discusses future opportunities for simultaneous
localization and map** (SLAM) in extreme underground environments. SLAM in …
localization and map** (SLAM) in extreme underground environments. SLAM in …
Lidar odometry survey: recent advancements and remaining challenges
Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …
methods like global positioning system are unavailable. The main goal of odometry is to …
Lvi-sam: Tightly-coupled lidar-visual-inertial odometry via smoothing and map**
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and
map**, LVI-SAM, that achieves real-time state estimation and map-building with high …
map**, LVI-SAM, that achieves real-time state estimation and map-building with high …
LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale
underground environments requires high-precision localization and map**. This crucial …
underground environments requires high-precision localization and map**. This crucial …
Past, present, and future of simultaneous localization and map**: Toward the robust-perception age
Simultaneous localization and map** (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …
model of the environment (the map), and the estimation of the state of the robot moving …
PIN-SLAM: LiDAR SLAM using a point-based implicit neural representation for achieving global map consistency
Accurate and robust localization and map** are essential components for most
autonomous robots. In this paper, we propose a simultaneous localization and map** …
autonomous robots. In this paper, we propose a simultaneous localization and map** …
[PDF][PDF] Cerberus: Autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the darpa subterranean challenge
M Tranzatto, F Mascarich, L Bernreiter… - ar**
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …
Laser–visual–inertial odometry and map** with high robustness and low drift
We present a data processing pipeline to online estimate ego‐motion and build a map of the
traversed environment, leveraging data from a 3D laser scanner, a camera, and an inertial …
traversed environment, leveraging data from a 3D laser scanner, a camera, and an inertial …
Lic-fusion: Lidar-inertial-camera odometry
This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-
camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual …
camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual …