BatSLAM 2.0: Sequence-Verified Sonar Place Recognition in a Robust Pose Graph
BatSLAM 2.0 is a sonar-only Simultaneous Localization and Mapping (SLAM) system for bats to navigate dark environments. It creates robust topological maps by using sequence verification to confirm place recognition candidates from sonar echoes, ensuring loop closures are reliable through a sophisticated pose graph back-end.