SLAM in complex large-scale GNSS-denied environments
This lecture will revise SLAM techniques for robot fully autonomous operation in complex large-scale GNSS-denied environments. It will start describing the foundations of SLAM, the main sensors used, the main SLAM modules and the main issues that constrain its use in large-scale GPS-denied-environments. Later, it will provide insights into the main SLAM approaches and techniques and how they cope with environment scalability. Finally, it will present some SLAM methods and experimental results obtained in industrial and infrastructure monitoring environments.