Loop closure detection is an essential component of simultaneous localization and mapping
(SLAM) systems, which reduces the drift accumulated over time. Over the years, several …

In this paper, we address the problem of robust data association for simultaneous vehicle
localization and map building. We show that the classical gated nearest neighbor approach …

We present a multi-robot system for GPS-denied search and rescue under the forest canopy.
Forests are particularly challenging environments for collaborative exploration and mapping …

Addresses real-time implementation of the simultaneous localization and map-building
(SLAM) algorithm. It presents optimal algorithms that consider the special form of the …

This paper reports on a method for robust selection of inter-map loop closures in multi-robot
simultaneous localization and mapping (SLAM). Existing robust SLAM methods assume a …

We are concerned with improving the range resolution of stereo vision for entry, descent,
and landing (EDL) missions to Mars and other planetary bodies. The goal is to create …

This thesis addresses the issues of scale for practical implementations of simultaneous
localisation and mapping (SLAM) in extensive outdoor environments. Building an …

Detecting loop closures in 3D Light Detection and Ranging (LiDAR) data is a challenging
task since point-level methods always suffer from instability. This paper presents a semantic …

Many estimation problems in robotics, computer vision, and learning require estimating
unknown quantities in the face of outliers. Outliers are typically the result of incorrect data …

This paper describes how multisensor fusion increases both reliability and precision of the
environmental observations used for the simultaneous localization and map-building …