A Comparison of Modern General-Purpose Visual SLAM Approaches

  title={A Comparison of Modern General-Purpose Visual SLAM Approaches},
  author={A. G. Merzlyakov and Steve Macenski},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • A. Merzlyakov, Steve Macenski
  • Published 15 July 2021
  • Computer Science
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Advancing maturity in mobile and legged robotics technologies is changing the landscapes where robots are being deployed and found. This innovation calls for a transformation in simultaneous localization and mapping (SLAM) systems to support this new generation of service and consumer robots. No longer can traditionally robust 2D lidar systems dominate while robots are being deployed in multi-story indoor, outdoor unstructured, and urban domains with increasingly inexpensive stereo and RGB-D… 

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