This article presents the core technologies and deployment strategies of Team CERBERUS
that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a …

Autonomous driving vehicles require both a precise localization and mapping solution in
different driving environment. In this context, Simultaneous Localization and Mapping …

In this paper, we present an open platform, termed OpenVINS, for visual-inertial estimation
research for both the academic community and practitioners from industry. The open …

Distributed as an open‐source library since 2013, real‐time appearance‐based mapping
(RTAB‐Map) started as an appearance‐based loop closure detection approach with …

We provide an open-source C++ library for real-time metric-semantic visual-inertial
Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual …

This article surveys recent progress and discusses future opportunities for simultaneous
localization and mapping (SLAM) in extreme underground environments. SLAM in …

The use of aerial swarms to solve real-world problems has been increasing steadily,
accompanied by falling prices and improving performance of communication, sensing, and …

As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems
(VINS) have prevailed in a wide range of applications from mobile augmented reality to …

In this paper we present an extension of Direct Sparse Odometry (DSO)[1] to a monocular
visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a …

This paper addresses the problem of vehicle-mounted camera localization by matching a
ground-level image with an overhead-view satellite map. Existing methods often treat this …