MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation

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-degr...

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Bibliographic Details

Published in:	Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 7153 - 7159
Main Authors:	Khedekar, Nikhil, Kulkarni, Mihir, Alexis, Kostas
Format:	Conference Proceeding
Language:	English
Published:	IEEE 23.10.2022
Subjects:	Current measurement Laser radar Legged locomotion Simultaneous localization and mapping Smoothing methods Thermal sensors Visualization
ISSN:	2153-0866
Online Access:	Get full text
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