In this paper, we describe a system that can carry out simultaneous localization and
mapping (SLAM) in large indoor and outdoor environments using a stereo pair moving with …

In this paper, we show that all processes associated with the move-sense-update cycle of
extended Kalman filter (EKF) Simultaneous Localization and Mapping (SLAM) can be …

The lack of publicly accessible datasets with a reliable ground truth has prevented in the
past a fair and coherent comparison of different methods proposed in the mobile robot …

This paper describes a system for reacquiring features of interest in a shallow-water ocean
environment, using autonomous underwater vehicles (AUVs) equipped with low-cost sonar …

This paper presents a novel local submap joining algorithm for building large-scale feature-
based maps: sparse local submap joining filter (SLSJF). The input to the filter is a sequence …

Long term autonomy in robots requires the ability to reconsider previously taken decisions
when new evidence becomes available. Loop closing links generated by a place …

This paper presents a new map joining algorithm and a set of metrics for evaluating the
performance of mapping techniques. The input to the new map joining algorithm is a …

The problem of autonomous navigation of a mobile device is at the heart of the more general
issue of spatial awareness and is now a well-studied problem in the robotics community …

The underwater environment intensifies difficulties inherent in cooperation between
autonomous vehicles by dramatically reducing their ability to communicate with each other …

This paper provides a novel state vector and covariance sub-matrix recovery algorithm for a
recently developed submap based exactly sparse extended information filter (EIF) SLAM …