LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Kamak Ebadi,Yun Chang,Matteo Palieri,Alex Stephens,Alex Hatteland,Eric Heiden,Abhishek Thakur,Nobuhiro Funabiki,Benjamin Morrell,Sally Wood,Luca Carlone,Ali-akbar Agha-mohammadi,Kamak Ebadi,Yun Chang,Matteo Palieri,Alex Stephens,Alex Hatteland,Eric Heiden,Abhishek Thakur,Nobuhiro Funabiki,Benjamin Morrell,Sally Wood,Luca Carlone,Ali-akbar Agha-mohammadi
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry inaccurate, while long corridors without salient features make exteroceptive sensing ambiguous and prone to drift; finally, spurious loop closures that are frequent in e...
