iSLAM: Imperative SLAM

arXiv:2306.07894v5 Announce Type: replace-cross
Abstract: Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts. Recent advancements suggest that data-driven methods are highly effective for front-end tasks, while geometry-based methods continue to be essential in the back-end processes. However, such a decoupled paradigm between the data-driven front-end and geometry-based back-end can lead to sub-optimal performance, …

abstract arxiv challenges cs.cv cs.ro data data-driven front-end geometry localization mapping navigation robot robot navigation slam tasks type