DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure
Visual simultaneous localization and mapping (SLAM) inevitably produces the accumulated drift in mapping and localization due to camera calibration errors, feature matching errors, etc. It is challenging to achieve drift-free localization and obtain an accurate global map.
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
Despite numerous advances in motion planning, existing solutions for high degree-of-freedom robots struggle to provide fast and reliable solutions in unknown environments. In particular, the cost of collision checking can be prohibitive for real-time applications.