SLAM and GNSS-denied navigation

Scope

Visual/LiDAR SLAM, loop closure and evaluation

Key references

1. Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016). Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age. IEEE Transactions on Robotics, 32(6), 1309–1332. link
2. Campos, C., Elvira, R., Gómez Rodríguez, J. J., Montiel, J. M. M., & Tardós, J. D. (2021). ORB-SLAM3: An accurate open-source library for visual, visual–inertial, and multimap SLAM. IEEE Transactions on Robotics, 37(6), 1874–1890. link

Used in courses

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