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Software Architecture for Mobile Robots



Henrik Andreasson , Giorgio Grisetti , Todor Stoyanov , Alberto Pretto

* This chapter will appear in: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg 

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Sensors for Mobile Robots



Henrik Andreasson , Giorgio Grisetti , Todor Stoyanov , Alberto Pretto

* This chapter will appear in: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg 

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Sparse Pose Graph Optimization in Cycle Space



Fang Bai , Teresa Vidal-Calleja , Giorgio Grisetti

* IEEE Transactions on Robotics, vol. 37, no. 5, pp. 1381-1400, Oct. 2021 
* 20 pages 

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MD-SLAM: Multi-cue Direct SLAM



Luca Di Giammarino , Leonardo Brizi , Tiziano Guadagnino , Cyrill Stachniss , Giorgio Grisetti

* 8 pages, 7 figures 

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Visual Place Recognition using LiDAR Intensity Information



Luca Di Giammarino , Irvin Aloise , Cyrill Stachniss , Giorgio Grisetti

* 7 pages, 6 figures 

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Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use



Mirco Colosi , Irvin Aloise , Tiziano Guadagnino , Dominik Schlegel , Bartolomeo Della Corte , Kai O. Arras , Giorgio Grisetti


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Least Squares Optimization: from Theory to Practice



Giorgio Grisetti , Tiziano Guadagnino , Irvin Aloise , Mirco Colosi , Bartolomeo Della Corte , Dominik Schlegel

* 29 pages, 15 figures, source code at https://srrg.gitlab.io/srrg2-solver.html 

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Adding Cues to Binary Feature Descriptors for Visual Place Recognition



Dominik Schlegel , Giorgio Grisetti

* 8 pages, 8 figures, source: www.gitlab.com/srrg-software/srrg_bench, submitted to ICRA 2019 

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An Effective Multi-Cue Positioning System for Agricultural Robotics



Marco Imperoli , Ciro Potena , Daniele Nardi , Giorgio Grisetti , Alberto Pretto

* Accepted for publication in IEEE Robotics and Automation Letters, 2018 

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