MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation

Nikhil Khedekar,Mihir Kulkarni,Kostas Alexis,Nikhil Khedekar,Mihir Kulkarni,Kostas Alexis

This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the goal of enabling resilient robotic autonomy in GPS-denied and perceptually-degraded environments, MIMOSA currently contains modules for pointcloud registration, fusion of multiple...