UPSLAM: Union of Panoramas SLAM
Anthony Cowley Ian D. Miller Camillo Jose Taylor Anthony Cowley Ian D. Miller Camillo Jose Taylor
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images eﬃciently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few centimeters within maps of expansive scope on the order of tens of millions of cubic meters. The flexibility of the system is demonstrated by running the same map...