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Advancing maturity in mobile and legged robotics technologies is changing the landscapes where robots are being deployed and found. This innovation calls for a transformation in simultaneous localization and mapping (SLAM) systems to support this new generation of service and consumer robots. No longer can traditionally robust 2D lidar systems dominate while robots are being deployed in multi-story indoor, outdoor unstructured, and urban domains with increasingly inexpensive stereo and RGB-DarXiv:2107.07589v2 fatcat:tmqzvdsigva27edmiaklkcfd74