This article surveys recent progress and discusses future opportunities for simultaneous
localization and map** (SLAM) in extreme underground environments. SLAM in …

This paper reports on the state of the art in underground SLAM by discussing different SLAM
strategies and results across six teams that participated in the three-year-long SubT …

Subterranean openings, including mines, present a unique and challenging environment for
robots and autonomous exploration systems. Autonomous robots that are created today will …

This letter presents benchmark tests of various visual (-inertial) odometry algorithms on
NVIDIA Jetson platforms. The compared algorithms include mono and stereo, covering …

This work presents two different forms of dense, high-resolution radar data from two
frequency modulated continuous wave radar sensors, along sparse radar pointclouds …

Artificial intelligence has undergone immense growth and maturation in recent years, though
autonomous systems have traditionally struggled when fielded in diverse and previously …

This paper presents a novel approach for autonomous cooperating UAVs in search and
rescue operations in subterranean domains with complex topology. The proposed system …

This paper proposes an illumination-robust visual odometry (VO) system that incorporates
both accelerated learning-based corner point algorithms and an extended line feature …

Dynamic environments such as urban areas are still challenging for popular visual-inertial
odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of …

This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with
a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware …