Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting from perceptual aliasing, (ii) is fully distributed and only relies on local (peer-to-peer) communication to achieve d...

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Bibliographic Details
Main Authors: Tian, Yulun, Chang, Yun, Herrera Arias, Fernando, Nieto-Granda, Carlos, How, Jonathan, Carlone, Luca
Other Authors: Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2022
Online Access:https://hdl.handle.net/1721.1/145301

Internet

https://hdl.handle.net/1721.1/145301

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