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Found 4 papers, 2 papers with code
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 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.
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
Our system, dubbed Kimera-Multi, is implemented by a team of robots equipped with visual-inertial sensors, and builds a 3D mesh model of the environment in real-time, where each face of the mesh is annotated with a semantic label (e. g., building, road, objects).
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
The so-called Burer-Monteiro method is a well-studied technique for solving large-scale semidefinite programs (SDPs) via low-rank factorization.
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment.
