DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments

9 February 2021

Ali-akbar Agha-mohammadi

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Papers citing "DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments"

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Title
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 72 0 0 10 May 2025
LiveXiv -- A Multi-Modal Live Benchmark Based on Arxiv Papers Content Nimrod Shabtay Felipe Maia Polo Sivan Doveh Wei Lin Muhammad Jehanzeb Mirza ... Mikhail Yurochkin Yuekai Sun Assaf Arbelle Leonid Karlinsky Raja Giryes 73 2 0 14 Oct 2024
Submodular Optimization for Keyframe Selection & Usage in SLAM David Thorne Nathan Chan Yanlong Ma Christa S. Robison Philip R. Osteen Brett T. Lopez 124 0 0 08 Oct 2024
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Turcan Tuna Julian Nubert Patrick Pfreundschuh Cesar Cadena Shehryar Khattak Marco Hutter 131 7 0 21 Aug 2024
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments Zhiqiang Chen Hongbo Chen Yuhua Qi Shipeng Zhong Dapeng Feng Wu Jin Weisong Wen Ming-Yuan Liu 113 4 0 29 Feb 2024
Adaptive Denoising-Enhanced LiDAR Odometry for Degeneration Resilience in Diverse Terrains M. Ji Wenbo Shi Yujie Cui Chengju Liu Qi Chen 92 7 0 26 Sep 2023
Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions Johann Laconte Daniil Lisus Timothy D. Barfoot 85 5 0 08 Sep 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 97 5 0 03 May 2023
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments Mario A. V. Saucedo Akash Patel Rucha Sawlekar Akshit Saradagi Christoforos Kanellakis Ali-Akbar Agha-Mohammadi G. Nikolakopoulos 83 6 0 18 Apr 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems Huan Yin Xuecheng Xu Shan Lu Xieyuanli Chen R. Xiong Shaojie Shen C. Stachniss Yue Wang 160 71 0 15 Feb 2023
Real-Time Simultaneous Localization and Mapping with LiDAR intensity Wenqian Du Giovanni Beltrame 53 12 0 23 Jan 2023
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments Turcan Tuna Julian Nubert Yoshua Nava Shehryar Khattak Marco Hutter Robotics Systems Lab 100 56 0 29 Nov 2022
Present and Future of SLAM in Extreme Underground Environments K. Ebadi Lukas Bernreiter Harel Biggie Gavin Catt Yun Chang ... Martin Saska Sebastian Scherer Roland Siegwart Jason L. Williams Luca Carlone 79 46 0 02 Aug 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda Martin Saska 112 24 0 16 Jun 2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments Yun Chang K. Ebadi Chris Denniston M. Ginting Antoni Rosinol ... Jingang Shi Arghya Chatterjee B. Morrell Ali-akbar Agha-mohammadi Luca Carlone 123 109 0 26 May 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Chris Denniston Yun Chang Andrzej Reinke K. Ebadi Gaurav Sukhatme Luca Carlone B. Morrell Ali-akbar Agha-mohammadi 95 26 0 24 May 2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping Andrzej Reinke M. Palieri B. Morrell Yun Chang K. Ebadi Luca Carlone Ali-akbar Agha-mohammadi 114 70 0 24 May 2022
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments Hyungtae Lim Suyong Yeon Soo-Hyun Ryu Yonghan Lee Youngji Kim Jaeseong Yun Eui-Hwang Jung Donghwan Lee Hyun Myung 3DPC 73 39 0 13 Mar 2022
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape Pierre-Yves Lajoie Benjamin Ramtoula Fang Wu Giovanni Beltrame 76 67 0 18 Aug 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 122 144 0 21 Mar 2021