{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/ground-fusion-a-low-cost-ground-slam-system","title":"Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases","arxiv_id":"2402.14308","date":"2024-02-22","proceeding":null,"authors":["Jie Yin","Ang Li","Wei Xi","Wenxian Yu","Danping Zou"],"abstract":"We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense color mapping, and robust localization in diverse environments. We tightly integrate RGB-D images, inertial measurements, wheel odometer and GNSS signals within a factor graph to achieve accurate and reliable localization both indoors and outdoors. To ensure successful initialization, we propose an efficient strategy that comprises three different methods: stationary, visual, and dynamic, tailored to handle diverse cases. Furthermore, we develop mechanisms to detect sensor anomalies and degradation, handling them adeptly to maintain system accuracy. Our experimental results on both public and self-collected datasets demonstrate that Ground-Fusion outperforms existing low-cost SLAM systems in corner cases. We release the code and datasets at https://github.com/SJTU-ViSYS/Ground-Fusion.","url_abs":"https://arxiv.org/abs/2402.14308v1","url_pdf":"https://arxiv.org/pdf/2402.14308v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"ground-fusion-a-low-cost-ground-slam-system","repo_url":"https://github.com/SJTU-ViSYS/M2DGR","is_official":0,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"ground-fusion-a-low-cost-ground-slam-system","repo_url":"https://github.com/sjtu-visys/ground-fusion","is_official":0,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"ground-fusion-a-low-cost-ground-slam-system","repo_url":"https://github.com/sjtu-visys/m2dgr-plus","is_official":0,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"ground-fusion-a-low-cost-ground-slam-system","repo_url":"https://github.com/sjtuyinjie/m3dgr","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}