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Tactical situational awareness in unstructured and mixed indoor/ outdoor scenarios is needed for urban combat as well as rescue operations. Two of the key functionalities needed by robot systems to function in an unknown environment are the ability to build a map of the environment and to determine its position within that map. In this paper, we present a strategy to build dense maps and to automatically close loops from 3D point clouds; this has been integrated into a mapping system dubbed OmniMapper. We will present both the underlying system, and experimental results from a variety of environments such as office buildings, at military training facilities and in large scale mixed indoor and outdoor environments.

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