R-SLAM: Resilient localization and mapping in challenging environments

A four wheeled, differential drive mobile robot platform and ROS framework have been used to implement and test the proposed method. Field test results reported in this article are obtained in historical Hagia Sophia museum, Istanbul, which occupies an area of 7500 square meters. To provide analogous results, another set of tests are performed on publicly available datasets and SLAM evaluation toolkit developed at the University of Freiburg is used to compare the results.