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• W3202270032 abstract "Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily due to the wide spectrum of perturbations robotic systems may encounter. Increasing the robustness of SLAM algorithms is an ongoing effort, however it usually addresses a specific perturbation. Generalisation of robustness across a large variety of challenging scenarios is not well-studied nor understood. This paper presents a systematic evaluation of the robustness of open-source state-of-the-art SLAM algorithms with respect to challenging conditions such as fast motion, non-uniform illumination, and dynamic scenes. The experiments are performed with perturbations present both independently of each other, as well as in combination in long-term deployment settings in unconstrained environments (lifelong operation)." @default.
• W3202270032 created "2021-10-11" @default.
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• W3202270032 date "2021-09-27" @default.
• W3202270032 modified "2023-09-30" @default.
• W3202270032 title "Robust SLAM Systems: Are We There Yet?" @default.
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• W3202270032 hasPublicationYear "2021" @default.
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