4 accepted papers
A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision making in unstructured environments. Due to increasing computational demands, the use of GPUs in dense SLAM is expanding. In this work, we present co
In the present work we address the problem of achieving a consistent estimator for SLAM. We propose a novel method capable of computing approximately consistent global uncertainties without scaling in complexity with the total size of the explored area. The method allows arbitrary selection of local…
This paper concerns the self-localization problem of a hexapod walking robot operating in rough terrains. Given that legged robots exhibit higher terrain passability than wheeled or tracked platforms when operating in harsh environments, they constitute a challenge for the localization techniques be…
This paper describes a visual SLAM system based on stereo cameras and focused on real-time localization for mobile robots. To achieve this, it heavily exploits the parallel nature of the SLAM problem, separating the time-constrained pose estimation from less pressing matters such as map building and…