A hierarchical multi-modal SLAM system, proven in the DARPA SubT finals, is described and released with code and a 740-meter underground dataset.
A framework for collaborative multi-robot mapping using spec- tral graph wavelets,
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CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments
A hierarchical multi-modal SLAM system, proven in the DARPA SubT finals, is described and released with code and a 740-meter underground dataset.