Present and Future of SLAM in Extreme Underground Environments

  title={Present and Future of SLAM in Extreme Underground Environments},
  author={Kamak Ebadi and Lukas Bernreiter and Harel Biggie and Gavin Catt and Yun Chang and Arghya Chatterjee and Chris Denniston and Simon-Pierre Desch{\^e}nes and Kyle Harlow and Shehryar Khattak and Lucas Nogueira and Matteo Palieri and Pavel Petr'avcek and Matvej Petrl'ik and Andrzej Reinke and V'it Kr'atk'y and Shibo Zhao and Ali-akbar Agha-mohammadi and Kostas Alexis and C. Heckman and Kasra Khosoussi and Navinda Kottege and Benjamin Morrell and Marco Hutter and Fred Pauling and Franccois Pomerleau and Martin Saska and Sebastian A. Scherer and Roland Y. Siegwart and Jason L. Williams and Luca Carlone},
—This paper surveys recent progress and discusses future opportunities for Simultaneous Localization And Mapping (SLAM) in extreme underground environments. SLAM in subterranean environments, from tunnels, caves, and man-made underground structures on Earth, to lava tubes on Mars, is a key enabler for a range of applications, such as planetary exploration, search and rescue, disaster response, and automated mining, among others. SLAM in underground environments has recently received substantial… 



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