NU Campus SLAM Map First complete Simultaneous Localization And Mapping (SLAM) generated point cloud of Northeastern campus, and performed by a variety of robotic platforms such as quadruped and humanoid. A paper will be available later this year detailing the methods used and make available the ROS bags and point clouds for others to use freely. I will be listed as contributor.	Payload Modular attachable sensor payload I designed in hardware and electrical infrastructure. The goal of this project was to map the NU campus, creating the first single complete point cloud of it, as well as publish a unique and important dataset in which the same sensor-suite recorded the same route over a variety of robotic platforms including quadruped and humanoid.	Payload Design & Fab In a single meeting we laid out the requirements for a $100K build-out and data-collect. I designed the hardware and electrical infrastructure. Carlos Anzola oversaw fabrication of the fleet.	Payload Lid of one of the payloads open for inspection.
Payloads Cart 4 out of 8 payloads ready for mounting.	NeuROAM Fleet Ready Platforms with payloads ready for launch from startline.	RViz First look at the D-LIOM SLAM pointcloud in RViz. D-LIOM uses a local factor graph, tightly coupled with inertial measurements to compute a precision, real-time pose estimation.	NeuROAM map Route through campus covered by robot fleet.
Spot on Footbridge Boston Dynamics' Spot taking data while crossing the pedestrian footbridge on Northeastern campus.	GO2W on Footbridge Wheeled quadruped taking data while crossing the pedestrian footbridge on Northeastern campus.

Paper: D-LIOM SLAM