COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM

1 code implementation • 17 Jan 2023 • Manthan Patel, Marco Karrer, Philipp Bänninger, Margarita Chli

The paradigm of a centralized architecture is well established, with the robots (i. e. agents) running Visual-Inertial Odometry (VIO) onboard while communicating relevant data, such as e. g. Keyframes (KFs), to a central back-end (i. e. server), which then merges and optimizes the joint maps of the agents.

Pose Estimation