A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry module, utilising a continuous-time trajectory representation, with an efficient pose-graph optimisation module that seamlessly supports both the single- and multi-agent settings. The robustness of Wildcat was recently demonstrated in the DARPA Subterranean Challenge where it outperformed other SLAM systems acrossarXiv:2205.12595v1 fatcat:vek6wnyeqjh7pgw7niwmgn76yy