BatSLAM 2.0: Sequence-Verified Sonar Place Recognition in a Robust Pose Graph
Echolocating bats can navigate dark and cluttered spaces using echolocation. Over a decade ago, BatSLAM showed that a robot with a biomimetic binaural sonar can build a topological map of the environment, by recognizing places from the received acoustic signals. Sonar place recognition, however, is ambiguous by nature: corridors produce nearly identical echo trains, and wrong loop closure can collapse the topological map. In this paper, we introduce BatSLAM 2.0, a novel sonar-only SLAM system built from three elements: an updated acoustic front-end, a sequence verifier that tracks and verifies loop closure candidates and a pose graph implemented on a high performance factor graph framewor...
| Authors | Jan Steckel |
|---|---|
| Primary category | cs.RO |
| Published | 30 September 2026 |
| Last updated at source | 30 September 2026 |
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