Switch-SLAM: Switching-Based LiDAR-Inertial-Visual SLAM for Degenerate Environments

Junwoon Lee; Ren Komatsu; Mitsuru Shinozaki; Toshihiro Kitajima; Hajime Asama; Qi An; Atsushi Yamashita

doi:10.1109/lra.2024.3421792

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Switch-SLAM: Switching-Based LiDAR-Inertial-Visual SLAM for Degenerate Environments

Junwoon Lee Ren Komatsu Mitsuru Shinozaki Toshihiro Kitajima Hajime Asama Qi An Atsushi Yamashita

Year: 2024 Journal: IEEE Robotics and Automation Letters Vol: 9 (8)Pages: 7270-7277 Publisher: Institute of Electrical and Electronics Engineers

DOI: 10.1109/lra.2024.3421792

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Keywords:

Simultaneous localization and mapping Lidar Inertial frame of reference Computer science Computer vision Artificial intelligence Inertial measurement unit Remote sensing Geography Robot Physics Mobile robot Classical mechanics

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Robotics and Sensor-Based Localization

Physical Sciences → Engineering → Aerospace Engineering

Robotic Path Planning Algorithms

Physical Sciences → Computer Science → Computer Vision and Pattern Recognition

Modular Robots and Swarm Intelligence

Physical Sciences → Engineering → Mechanical Engineering

Switch-SLAM: Switching-Based LiDAR-Inertial-Visual SLAM for Degenerate Environments

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