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there has been intense research into visual SLAM (VSLAM) using primarily visual (camera) sensors, because of the increasing ubiquity of cameras such as those in mobile devices.Follow up research includes. Both visual and lidar sensors are informative enough to allow for landmark extraction in many cases. Other recent forms of SLAM include tactile SLAM (sensing by local touch only), radar SLAM, acoustic SLAM, and Wi-Fi-SLAM (sensing by strengths of nearby Wi-Fi access points). Recent approaches apply quasi-optical

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