ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment
Junhui Wang,Bin Tian,Rui Zhang,Long Chen,Junhui Wang,Bin Tian,Rui Zhang,Long Chen
Simultaneous Localization and Mapping (SLAM) has greatly assisted in exploring perceptually-degraded underground environments, such as human-made tunnels, mine tunnels, and caves. However, the recurring sensor failures and spurious loop closures in these scenes bring significant challenges to applying SLAM. This paper proposes an architecture for underground localization and semantic mapping (ULSM...
