Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry
  and 3D Mapping in Real-Time   A reliable odometry source is a prerequisite to enable complex autonomy
behaviour in next-generation robots operating in extreme environments. In this
work, we present a high-precision lidar odometry system to achieve robust and
real-time operation under challenging perceptual conditions. LOCUS (Lidar
Odometry for Consistent operation in Uncertain Settings), provides an accurate
multi-stage scan matching unit equipped with an health-aware sensor integration
module for seamless fusion of additional sensing modalities. We evaluate the
performance of the proposed system against state-of-the-art techniques in
perceptually challenging environments, and demonstrate top-class localization
accuracy along with substantial improvements in robustness to sensor failures.
We then demonstrate real-time performance of LOCUS on various types of robotic
mobility platforms involved in the autonomous exploration of the Satsop power
plant in Elma, WA where the proposed system was a key element of the CoSTAR
team's solution that won first place in the Urban Circuit of the DARPA
Subterranean Challenge.

18
The categories of this paper are: econ
30
The categories of this paper are: q-alg
34
The categories of this paper are: chem-ph
11
The categories of this paper are: hep-lat
17
The categories of this paper are: q-fin
24
The categories of this paper are: dg-ga
7
The categories of this paper are: hep-th
4
The categories of this paper are: cond-mat
36
The categories of this paper are: cmp-lg
3
The categories of this paper are: physics
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
32
The categories of this paper are: atom-ph
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The categories of this paper are: math-ph
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The categories of this paper are: stat