Kimera-Multi-LCD

Loop closure detection for centralized and distributed multirobot visual systems. This package was used in the Kimera-Multi system. Sample usage can be found in the distributed loop closure modules.

Citation

• [1] Y. Chang, Y. Tian, J. P. How and L. Carlone, "Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping," 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021, pp. 11210-11218, doi: 10.1109/ICRA48506.2021.9561090.

@INPROCEEDINGS{chang21icra_kimeramulti,
  author={Chang, Yun and Tian, Yulun and How, Jonathan P. and Carlone, Luca},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping}, 
  year={2021},
  volume={},
  number={},
  pages={11210-11218},
  doi={10.1109/ICRA48506.2021.9561090}
}

• [2] Y. Tian, Y. Chang, F. Herrera Arias, C. Nieto-Granda, J. P. How and L. Carlone, "Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems," in IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2022-2038, Aug. 2022, doi: 10.1109/TRO.2021.3137751.

@ARTICLE{tian22tro_kimeramulti,
  author={Tian, Yulun and Chang, Yun and Herrera Arias, Fernando and Nieto-Granda, Carlos and How, Jonathan P. and Carlone, Luca},
  journal={IEEE Transactions on Robotics}, 
  title={Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems}, 
  year={2022},
  volume={38},
  number={4},
  pages={2022-2038},
  doi={10.1109/TRO.2021.3137751}
}