129 citations · 301 across the 10 of their papers we have counts for
11 papers
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
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 co…
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Andrzej Reinke, Matteo Palieri, Benjamin Morrell +4
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
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 requ…
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Christopher E. Denniston, Yun Chang, Andrzej Reinke +5
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment,…
Exploring Event Camera-based Odometry for Planetary Robots
Florian Mahlknecht, Daniel Gehrig, Jeremy Nash +4
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based expl…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…