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This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps.
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T. Cieslewski, S. Choudhary, and D. Scaramuzza, “Data-efficient decentralized visual slam,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) , 2018, pp. 2466–2473
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S. Yang and S. Scherer, “Cubeslam: Monocular 3-d object slam,” IEEE Transactions on Robotics , vol. 35, no. 4, pp. 925–938, 2019
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L. Nicholson, M. Milford, and N. Sünderhauf, “Quadricslam: Dual quadrics from object detections as landmarks in object-oriented slam,” IEEE Robotics and Automation Letters , vol. 4, no. 1, pp. 1–8, 2019
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M. Grinvald, F. Furrer, T. Novkovic, J. J. Chung, C. Cadena, R. Siegwart, and J. Nieto, “Volumetric instance-aware semantic mapping and 3d object discovery,” IEEE Robotics and Automation Letters , vol. 4, no. 3, pp. 3037–3044, 2019
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X. Chen, A. Milioto, E. Palazzolo, P. Giguere, J. Behley, and C. Stachniss, “Suma++: Efficient lidar-based semantic slam,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2019, pp. 4530–4537
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Z. Zhu, S. Peng, V. Larsson, W. Xu, H. Bao, Z. Cui, M. R. Oswald, and M. Pollefeys, “Nice-slam: Neural implicit scalable encoding for slam,” in Proceedings of the IEEE/CVF conference on computer vision and pattern recognition , 2022, pp. 12 786–12 796
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D. Cattaneo, M. Vaghi, and A. Valada, “Lcdnet: Deep loop closure detection and point cloud registration for lidar slam,” IEEE Transactions on Robotics , vol. 38, no. 4, pp. 2074–2093, 2022
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L. Zheng, C. Zhu, J. Zhang, H. Zhao, H. Huang, M. Niessner, and K. Xu, “Active scene understanding via online semantic reconstruction,” in Computer Graphics Forum , vol. 38, no. 7. Wiley Online Library, 2019, pp. 103–114
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2019
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T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus, “Lio-sam: Tightly-coupled lidar inertial odometry via smoothing and mapping,” in 2020 IEEE/RSJ international conference on intelligent robots and systems (IROS) . IEEE, 2020, pp. 5135–5142
2020
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P.-Y. Lajoie, B. Ramtoula, Y. Chang, L. Carlone, and G. Beltrame, “Door-slam: Distributed, online, and outlier resilient slam for robotic teams,” IEEE Robotics and Automation Letters , vol. PP, pp. 1–1, 01 2020
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2022
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F. Dellaert and GTSAM Contributors, “borglab/gtsam,” May 2022. [Online]. Available: https://github.com/borglab/gtsam)
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2023
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X. Liu, A. Prabhu, F. Cladera, I. D. Miller, L. Zhou, C. J. Taylor, and V. Kumar, “Active metric-semantic mapping by multiple aerial robots,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2023, pp. 3282–3288
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Y. Tao, X. Liu, I. Spasojevic, S. Agarwal, and V. Kumar, “3d active metric-semantic slam,” IEEE Robotics and Automation Letters , 2024
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P.-Y. Lajoie and G. Beltrame, “Swarm-slam: Sparse decentralized collaborative simultaneous localization and mapping framework for multi-robot systems,” IEEE Robotics and Automation Letters , vol. 9, no. 1, pp. 475–482, 2024
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