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Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…

Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

We encounter large-scale environments where both structured and unstructured spaces coexist, such as on campuses. In this environment, lighting conditions and dynamic objects change constantly. To tackle the challenges of large-scale…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…

Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex environments. However, these systems struggle in real-world…

This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a feature-based…