Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312851330> ?p ?o ?g. }
Showing items 1 to 91 of
91
with 100 items per page.
- W4312851330 abstract "This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the goal of enabling resilient robotic autonomy in GPS-denied and perceptually-degraded environments, MIMOSA currently contains modules for pointcloud registration, fusion of multiple odometry estimates relying on visible-light and thermal vision, as well as inertial measurement propagation. A flexible back-end utilizes the estimates from various modalities as relative transformation factors. The method is designed to be robust to degeneracy through the maintenance and tracking of modality-specific health metrics, while also being inherently tolerant to sensor failure. We detail this framework alongside our implementation for handling high-rate asynchronous sensor measurements and evaluate its performance on data from autonomous subterranean robotic exploration missions using legged and aerial robots." @default.
- W4312851330 created "2023-01-05" @default.
- W4312851330 creator A5022659812 @default.
- W4312851330 creator A5024717956 @default.
- W4312851330 creator A5058067754 @default.
- W4312851330 date "2022-10-23" @default.
- W4312851330 modified "2023-10-16" @default.
- W4312851330 title "MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation" @default.
- W4312851330 cites W1968315983 @default.
- W4312851330 cites W1970504153 @default.
- W4312851330 cites W2127752689 @default.
- W4312851330 cites W2139137304 @default.
- W4312851330 cites W2161123599 @default.
- W4312851330 cites W2296228853 @default.
- W4312851330 cites W2419212966 @default.
- W4312851330 cites W2888422218 @default.
- W4312851330 cites W2968390259 @default.
- W4312851330 cites W3003175783 @default.
- W4312851330 cites W3092218351 @default.
- W4312851330 cites W3098410961 @default.
- W4312851330 cites W3129245057 @default.
- W4312851330 cites W3129883472 @default.
- W4312851330 cites W3159400523 @default.
- W4312851330 cites W3206845495 @default.
- W4312851330 cites W4246614213 @default.
- W4312851330 doi "https://doi.org/10.1109/iros47612.2022.9981108" @default.
- W4312851330 hasPublicationYear "2022" @default.
- W4312851330 type Work @default.
- W4312851330 citedByCount "1" @default.
- W4312851330 countsByYear W43128513302023 @default.
- W4312851330 crossrefType "proceedings-article" @default.
- W4312851330 hasAuthorship W4312851330A5022659812 @default.
- W4312851330 hasAuthorship W4312851330A5024717956 @default.
- W4312851330 hasAuthorship W4312851330A5058067754 @default.
- W4312851330 hasConcept C104317684 @default.
- W4312851330 hasConcept C144024400 @default.
- W4312851330 hasConcept C151319957 @default.
- W4312851330 hasConcept C154945302 @default.
- W4312851330 hasConcept C185592680 @default.
- W4312851330 hasConcept C19966478 @default.
- W4312851330 hasConcept C2779903281 @default.
- W4312851330 hasConcept C2780226545 @default.
- W4312851330 hasConcept C31258907 @default.
- W4312851330 hasConcept C31972630 @default.
- W4312851330 hasConcept C33954974 @default.
- W4312851330 hasConcept C36289849 @default.
- W4312851330 hasConcept C41008148 @default.
- W4312851330 hasConcept C49441653 @default.
- W4312851330 hasConcept C55493867 @default.
- W4312851330 hasConcept C63479239 @default.
- W4312851330 hasConcept C79061980 @default.
- W4312851330 hasConcept C79403827 @default.
- W4312851330 hasConcept C86369673 @default.
- W4312851330 hasConcept C90509273 @default.
- W4312851330 hasConceptScore W4312851330C104317684 @default.
- W4312851330 hasConceptScore W4312851330C144024400 @default.
- W4312851330 hasConceptScore W4312851330C151319957 @default.
- W4312851330 hasConceptScore W4312851330C154945302 @default.
- W4312851330 hasConceptScore W4312851330C185592680 @default.
- W4312851330 hasConceptScore W4312851330C19966478 @default.
- W4312851330 hasConceptScore W4312851330C2779903281 @default.
- W4312851330 hasConceptScore W4312851330C2780226545 @default.
- W4312851330 hasConceptScore W4312851330C31258907 @default.
- W4312851330 hasConceptScore W4312851330C31972630 @default.
- W4312851330 hasConceptScore W4312851330C33954974 @default.
- W4312851330 hasConceptScore W4312851330C36289849 @default.
- W4312851330 hasConceptScore W4312851330C41008148 @default.
- W4312851330 hasConceptScore W4312851330C49441653 @default.
- W4312851330 hasConceptScore W4312851330C55493867 @default.
- W4312851330 hasConceptScore W4312851330C63479239 @default.
- W4312851330 hasConceptScore W4312851330C79061980 @default.
- W4312851330 hasConceptScore W4312851330C79403827 @default.
- W4312851330 hasConceptScore W4312851330C86369673 @default.
- W4312851330 hasConceptScore W4312851330C90509273 @default.
- W4312851330 hasFunder F4320323299 @default.
- W4312851330 hasLocation W43128513301 @default.
- W4312851330 hasOpenAccess W4312851330 @default.
- W4312851330 hasPrimaryLocation W43128513301 @default.
- W4312851330 hasRelatedWork W2060890775 @default.
- W4312851330 hasRelatedWork W2625455490 @default.
- W4312851330 hasRelatedWork W2921707373 @default.
- W4312851330 hasRelatedWork W2980357211 @default.
- W4312851330 hasRelatedWork W3019330256 @default.
- W4312851330 hasRelatedWork W4285265093 @default.
- W4312851330 hasRelatedWork W4324290685 @default.
- W4312851330 hasRelatedWork W4383748483 @default.
- W4312851330 hasRelatedWork W4386597354 @default.
- W4312851330 hasRelatedWork W4386899866 @default.
- W4312851330 isParatext "false" @default.
- W4312851330 isRetracted "false" @default.
- W4312851330 workType "article" @default.