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

1 code implementation • 28 Jun 2021 • Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone

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 distributed localization and mapping, and (iii) builds a globally consistent metric-semantic 3D mesh model of the environment in real-time, where faces of the mesh are annotated with semantic labels.

3D Reconstruction Benchmarking +1