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This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition.
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H. F. Durrant-Whyte and T. Bailey, “Simultaneous localisation and mapping (SLAM): Part I,”
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F. Dellaert, “Factor graphs and gtsam: A hands-on introduction,” Georgia Institute of Technology, Tech. Rep., 2012
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D. Gálvez-López and J. D. Tardos, “Bags of binary words for fast place recognition in image sequences,”
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M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, “isam2: Incremental smoothing and mapping using the bayes tree,”
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A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, “Octomap: An efficient probabilistic 3D mapping framework based on octrees,”
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R. Zlot and M. Bosse, “Efficient large-scale 3D mobile mapping and surface reconstruction of an underground mine,” in
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F. Nobre, C. R. Heckman, and G. T. Sibley, “Multi-sensor slam with online self-calibration and change detection,” in
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2017
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2017
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D. Tardioli, L. Riazuelo, T. Seco, J. Espelosín, J. Lalana, J. L. Villarroel, and L. Montano, “A robotized dumper for debris removal in tunnels under construction,” in
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F. Dellaert, M. Kaess
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C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, “On-manifold preintegration for real-time visual-inertial odometry,”
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M. Giamou, K. Khosoussi, and J. P. How, “Talk resource-efficiently to me: Optimal communication planning for distributed loop closure detection,” in
2018
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2018
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2018
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T. Rouček, M. Pecka, P. Čížek, T. Petříček, J. Bayer, V. Šalanskỳ, D. Heřt, M. Petrlík, T. Báča, V. Spurnỳ
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J. Gross, M. De Petrillo, J. Beard, H. Nichols, T. Swiger, R. Watson, C. Kirk, C. Kilic, J. Hikes, E. Upton
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S. Khattak, F. Mascarich, T. Dang, C. Papachristos, and K. Alexis, “Robust thermal-inertial localization for aerial robots: A case for direct methods,” in
2019
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M. Kasper, S. McGuire, and C. Heckman, “A benchmark for visual-inertial odometry systems employing onboard illumination,” in
2019
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B. Nisar, P. Foehn, D. Falanga, and D. Scaramuzza, “Vimo: Simultaneous visual inertial model-based odometry and force estimation,”
2019
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Y. Chang, Y. Tian, J. P. How, and L. Carlone, “Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping,” in
2021
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Y. Tian, Y. Chang, F. H. Arias, C. Nieto-Granda, J. How, and L. Carlone, “Kimera-Multi: Robust, distributed, dense metric-semantic slam for multi-robot systems,”
2021
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K. Ebadi, M. Palieri, S. Wood, C. Padgett, and A. Agha-mohammadi, “DARE-SLAM: Degeneracy-aware and resilient loop closing in perceptually-degraded environments,”
2021
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J. G. Blank, B. Morrell, A. Bouman, T. Touma, M. F. Ginting, C. Patterson, and A.-a. Agha-Mohammadi, “Autonomous Mapping and Characterization of Terrestrial Lava Caves Using Quadruped Robots: Preparing for a Mission to a Planetary Cave,” in
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A. Davison and J. Ortiz, “FutureMapping 2: Gaussian belief propagation for spatial AI,”
2019
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P.-Y. Lajoie, B. Ramtoula, Y. Chang, L. Carlone, and G. Beltrame, “Door-slam: Distributed, online, and outlier resilient slam for robotic teams,”
2020
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K. Ebadi, Y. Chang, M. Palieri, A. Stephens, A. Hatteland, E. Heiden, A. Thakur, N. Funabiki, B. Morrell, S. Wood
2020
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2020
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B. Morrell, M. Palieri, N. Funabiki, A. Thakur, J. G. Blank, and A. Aghamohammadi, “Robotic localization and multi-sensor, semantic 3D mapping for exploration of subsurface voids,” in
2020
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M. Petrlík, T. Báča, D. Heřt, M. Vrba, T. Krajník, and M. Saska, “A robust uav system for operations in a constrained environment,”
2020
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