Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems 0 Abstract This paper presents a multi-robot Simultaneous Localization and Mapping (SLAM) system named Kimera-Multi. Real-world applications require multi-robot SLAM systems to be robust, capable of identifying and rejecting erroneous inter-robot and intra-robot loop closures caused by perceptual confusion, and to rely solely on local (point-to-point) … Read more