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The internship will cover the integration and operation of a software pipeline for SLAM based on LiDAR and/or 3D cameras. The work will include the incremental part, followed by the management of the pose-graph, the detection and validation of loop closures, as well as the optimization of the map and trajectory after each closure. In addition, the challenge of identifying incorrect loop closures will be addressed. A significant part of the work will involve practical testing in outdoor environments, both on-road and off-road, to assess the effectiveness of the pipeline.