Wildcat: Online continuous-time 3d lidar-inertial slam
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility
and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry
module, utilising a continuous-time trajectory representation, with an efficient pose-graph
optimisation module that seamlessly supports both the single-and multi-agent settings. The
robustness of Wildcat was recently demonstrated in the DARPA Subterranean Challenge
where it outperformed other SLAM systems across various types of sensing-degraded and …
and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry
module, utilising a continuous-time trajectory representation, with an efficient pose-graph
optimisation module that seamlessly supports both the single-and multi-agent settings. The
robustness of Wildcat was recently demonstrated in the DARPA Subterranean Challenge
where it outperformed other SLAM systems across various types of sensing-degraded and …
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