3 papers
cs.RO2021
GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps
Riccardo Giubilato, Cedric Le Gentil, Mallikarjuna Vayugundla +3
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce co…
cs.RO2021
Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps
Riccardo Giubilato, Mallikarjuna Vayugundla, Wolfgang Stürzl +3
Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that…
cs.RO2020
Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments
Cedric Le Gentil, Mallikarjuna Vayugundla, Riccardo Giubilato +3
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these system…