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This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world.
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A. Cunningham, M. Paluri, and F. Dellaert, “DDF-SAM: Fully distributed slam using constrained factor graphs,” in
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S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H. Christensen, and F. Dellaert, “Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models,”
2017
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T. Cieslewski, S. Choudhary, and D. Scaramuzza, “Data-efficient decentralized visual SLAM,”
2018
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M. Giamou, K. Khosoussi, and J. P. How, “Talk resource-efficiently to me: Optimal communication planning for distributed loop closure detection,” in
2018
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P. Schmuck and M. Chli, “CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams,” in
2018
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H. Zhang, X. Chen, H. Lu, and J. Xiao, “Distributed and collaborative monocular simultaneous localization and mapping for multi-robot systems in large-scale environments,”
2018
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J. G. Mangelson, D. Dominic, R. M. Eustice, and R. Vasudevan, “Pairwise consistent measurement set maximization for robust multi-robot map merging,” in
2018
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F. Dellaert et al., “Georgia Tech Smoothing And Mapping (GTSAM),”
2019
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Y. Tian, A. Koppel, A. S. Bedi, and J. P. How, “Asynchronous and parallel distributed pose graph optimization,”
2020
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K. Ebadi
2020
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H. Yang, P. Antonante, V. Tzoumas, and L. Carlone, “Graduated non-convexity for robust spatial perception: From non-minimal solvers to global outlier rejection,”
2020
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P. Lajoie, B. Ramtoula, Y. Chang, L. Carlone, and G. Beltrame, “DOOR-SLAM: distributed, online, and outlier resilient slam for robotic teams,”
2020
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2021
Cited alongside, same era.
“Darpa subteranean (subt) challenge,” 2021. [Online]. Available:
2021
Cited alongside, same era.
Y. Chang, Y. Tian, J. How, and L. Carlone, “Kimera-Multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping,” in
2021
Cited alongside, same era.
Y. Tian, Y. Chang, F. H. Arias, C. Nieto-Granda, J. How, and L. Carlone, “Kimera-Multi: Robust, distributed, dense metric-semantic SLAM for multi-robot systems,”
2021
Cited alongside, same era.
P. Schmuck, T. Ziegler, M. Karrer, J. Perraudin, and M. Chli, “Covins: Visual-inertial slam for centralized collaboration,” in
2021
Cited alongside, same era.
2022
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2022
Later among the works it cites.
T. Zhang, L. Zhang, Y. Chen, and Y. Zhou, “Cvids: A collaborative localization and dense mapping framework for multi-agent based visual-inertial slam,”
2022
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H. Xu, P. Liu, X. Chen, and S. Shen, “
2022
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Y. Tian, K. Khosoussi, and J. P. How, “A resource-aware approach to collaborative loop-closure detection with provable performance guarantees,”
2021
Cited alongside, same era.
Y. Tian, K. Khosoussi, D. M. Rosen, and J. P. How, “Distributed certifiably correct pose-graph optimization,”
2021
Cited alongside, same era.
T. Fan and T. Murphey, “Majorization minimization methods for distributed pose graph optimization,”
2021
Cited alongside, same era.
Y. Huang, T. Shan, F. Chen, and B. Englot, “DiSCo-SLAM: distributed scan context-enabled multi-robot lidar slam with two-stage global-local graph optimization,”
2021
Cited alongside, same era.
J. Yin, A. Li, T. Li, W. Yu, and D. Zou, “M2dgr: A multi-sensor and multi-scenario slam dataset for ground robots,”
2021
Cited alongside, same era.
2021
Cited alongside, same era.
2022
Later among the works it cites.
K. J. Doherty, D. M. Rosen, and J. J. Leonard, “Spectral measurement sparsification for pose-graph slam,” in
2022
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2022
Later among the works it cites.
2022
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2022
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2023
Closest in time.
2023
Closest in time.
Y. Zhu, Y. Kong, Y. Jie, S. Xu, and H. Cheng, “Graco: A multimodal dataset for ground and aerial cooperative localization and mapping,”
2023
Closest in time.