Tootfinder

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS
Simon Boche, Jaehyung Jung, Sebasti\'an Barbas Laina, Stefan Leutenegger
https://arxiv.org/abs/2510.04612

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS
To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localization and Mapping (SLAM) system building dense volumetric occupancy maps, while scalable to large environments and operating in realtime. Our unified SLAM framework seamlessly integrates different sensor modalities: visual, inertial, measured or learned depth, LiDAR and Global Navigation Satellite System (GNSS) measuremen…