Bei-Bei Zhang

Hybrid optimization of multimodal SLAM for underground robots with seismic vibration geomagnetic and tactile sensing

Reliable underground SLAM remains difficult when GPS, visual features, LiDAR, or external anchors are unavailable or degraded, while non-visual sensors exhibit noise, drift, and environment-dependent uncertainty. We propose a hybrid-optimized seismic/vibration-geomagnetic-tactile SLAM framework that combines compleme...