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cs.RO2022
When Geometry is not Enough: Using Reflector Markers in Lidar SLAM
Gerhard Kurz, Sebastian A. Scherer, Peter Biber +1
Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the…
cs.RO2022
Detecting Invalid Map Merges in Lifelong SLAM
Matthias Holoch, Gerhard Kurz, Peter Biber
For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as…