Ground Texture SLAM

A Simultaneous Localization and Mapping (SLAM) system that only uses images of the ground beneath the robot for navigation.

Distribution Statement

Distribution Statement A - Approved for public release; distribution is unlimited, as submitted under NAVAIR Public Release Authorization 2022-0586.

Paper

The preprint of this paper can be found at: https://arxiv.org/abs/2303.05946. It falls under the same license information as this project. (See LICENSE and INTENT).

The final published version is at IEEE Xplore.

Citing this Work

This code is part of a paper that appeared in IEEE's International Conference on Robotics and Automation (ICRA) in London, UK in May 2023. If you use this code, please cite that paper. The citation information is as follows:

@inproceedings{hart_monocular_2023,
    author = {Hart, Kyle M. and Englot, Brendan and O'Shea, Ryan P. and Kelly, John D. and Martinez, David},
    title = {Monocular Simultaneous Localization and Mapping using Ground Textures},
    booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2023},
    month = may,
    address = {London, United Kingdom},
    doi = {10.1109/ICRA48891.2023.10161558}
}

Documentation

The latest documentation, including installation and usage guides, is found on GitLab under Deploy > Pages.