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

28 June 2021

Yulun Tian

Yun Chang

Fernando Herrera Arias

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

50 / 94 papers shown

Title
SKiD-SLAM: Robust, Lightweight, and Distributed Multi-Robot LiDAR SLAM in Resource-Constrained Field Environments Hogyun Kim Jiwon Choi Juwon Kim Geonmo Yang Dongjin Cho Hyungtae Lim Younggun Cho 29 0 0 13 May 2025
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift Devansh R. Agrawal Taekyung Kim Rajiv G. Govindjee Trushant Adeshara Jiangbo Yu Anurekha Ravikumar Dimitra Panagou 17 0 0 25 Apr 2025
DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems Joshua Bird J. Blumenkamp Amanda Prorok 42 0 0 06 Mar 2025
CRADMap: Applied Distributed Volumetric Mapping with 5G-Connected Multi-Robots and 4D Radar Perception Maaz Qureshi Alexander Werner Zhenan Liu A. Khajepour George Shaker William Melek 28 0 0 01 Mar 2025
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition Nikolaos Stathoulopoulos Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 76 1 0 20 Feb 2025
SF-Loc: A Visual Mapping and Geo-Localization System based on Sparse Visual Structure Frames Yuxuan Zhou Xingxing Li Shengyu Li Chunxi Xia Xuanbin Wang Shaoquan Feng 91 0 0 02 Dec 2024
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments Jianhao Jiao R. Geng Yuanhang Li Ren Xin Bowen Yang Jin Wu Lujia Wang M. Liu Rui Fan Dimitrios Kanoulas 75 7 0 30 Nov 2024
SPACE: 3D Spatial Co-operation and Exploration Framework for Robust Mapping and Coverage with Multi-Robot Systems Sai Krishna Ghanta Ramviyas Parasuraman 26 0 0 04 Nov 2024
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization Mason B. Peterson Yi Xuan Jia Yulun Tian Annika Thomas Jonathan P. How 49 2 0 10 Oct 2024
Language-guided Robust Navigation for Mobile Robots in Dynamically-changing Environments Cody Simons Zhichao Liu Brandon Marcus A. Roy-Chowdhury Konstantinos Karydis 23 0 0 28 Sep 2024
OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph Yujie Tang Meiling Wang Yinan Deng Zibo Zheng Jiagui Zhong Yufeng Yue 18 0 0 27 Sep 2024
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms Fangcheng Zhu Yunfan Ren Longji Yin Fanze Kong Qingbo Liu ... Wenyi Liu Yixi Cai Guozheng Lu Haotian Li Fu Zhang 39 6 0 26 Sep 2024
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 33 2 0 13 Sep 2024
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System Xiangcheng Hu Jin Wu Jianhao Jiao Binqian Jiang Wei Zhang Wenshuo Wang Ping Tan 22 2 0 07 Aug 2024
Ultra-Lightweight Collaborative Mapping for Robot Swarms Vlad Niculescu T. Polonelli Michele Magno Luca Benini 26 0 0 03 Jul 2024
Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization Ruofei Bai Shenghai Yuan Hongliang Guo Pengyu Yin W. Yau Lihua Xie 26 1 0 01 Jul 2024
Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Features Halil Utku Unlu Anthony Tzes P. Krishnamurthy Farshad Khorrami 16 1 0 27 Jun 2024
Robust Multi-Robot Global Localization with Unknown Initial Pose based on Neighbor Constraints Yaojie Zhang Haowen Luo Weijun Wang Wei Feng 39 0 0 27 Jun 2024
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation Xu Liu Jiuzhou Lei Ankit Prabhu Yuezhan Tao Igor Spasojevic Pratik Chaudhari Nikolay A. Atanasov Vijay Kumar 41 7 0 25 Jun 2024
iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping Daniel McGann Michael Kaess 46 1 0 11 Jun 2024
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization Frederike Dumbgen Connor T. Holmes Timothy D. Barfoot 44 1 0 04 Jun 2024
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization Tianyue Wu Gongye Zaitian Qianhao Wang Fei Gao 37 4 0 31 May 2024
iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce Communication Zhuoli Tian Yuyang Zhang Jinsheng Wei Meng Guo 21 2 0 21 May 2024
RHAML: Rendezvous-based Hierarchical Architecture for Mutual Localization Gaoming Chen Kun Song Xiang Xu Wen-han Liu Zhenhua Xiong 38 1 0 20 May 2024
Outlier-Robust Long-Term Robotic Mapping Leveraging Ground Segmentation Hyungtae Lim 42 1 0 18 May 2024
Multi-Robot Rendezvous in Unknown Environment with Limited Communication Kun Song Gaoming Chen Wen-han Liu Zhenhua Xiong 20 0 0 14 May 2024
General Place Recognition Survey: Towards Real-World Autonomy Peng Yin Jianhao Jiao Shiqi Zhao Lingyun Xu Guoquan Huang Howie Choset Sebastian A. Scherer Jianda Han 42 7 0 08 May 2024
A real-time, robust and versatile visual-SLAM framework based on deep learning networks Zhang Xiao Shuaixin Li 24 0 0 06 May 2024
Multi-Robot Object SLAM using Distributed Variational Inference Hanwen Cao Sriram Shreedharan Nikolay A. Atanasov 21 2 0 28 Apr 2024
Riemannian Optimization for Active Mapping with Robot Teams Arash Asgharivaskasi Fritz Girke Nikolay A. Atanasov 19 3 0 28 Apr 2024
HIPer: A Human-Inspired Scene Perception Model for Multifunctional Mobile Robots Florenz Graf Jochen Lindermayr Birgit Graf Werner Kraus Marco F. Huber 33 3 0 27 Apr 2024
Real-World Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System M. Stadler Sam Prentice Yasmin Veys Long Quang Carlos Nieto-Granda Michael Novitzky Ethan Stump Nicholas Roy 16 1 0 26 Apr 2024
Advancing Frontiers in SLAM: A Survey of Symbolic Representation and Human-Machine Teaming in Environmental Mapping Brandon Curtis Colelough 25 0 0 22 Mar 2024
Learning Generalizable Feature Fields for Mobile Manipulation Ri-Zhao Qiu Yafei Hu Ge Yang Yuchen Song Yang Fu ... Jiteng Mu Ruihan Yang Nikolay A. Atanasov Sebastian Scherer Xiaolong Wang 29 25 0 12 Mar 2024
SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM Siting Zhu Renjie Qin Guangming Wang Jiuming Liu Hesheng Wang 36 26 0 12 Mar 2024
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms Shipeng Zhong Hongbo Chen Yuhua Qi Dapeng Feng Zhiqiang Chen Jin Wu Weisong Wen Ming-Yu Liu 25 3 0 19 Feb 2024
Robotic Exploration using Generalized Behavioral Entropy A. Suresh Carlos Nieto-Granda Sonia Martínez 21 3 0 15 Feb 2024
Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping Arash Asgharivaskasi Nikolay A. Atanasov 8 2 0 14 Feb 2024
Online and Certifiably Correct Visual Odometry and Mapping Devansh R. Agrawal Rajiv G. Govindjee Jiangbo Yu Anurekha Ravikumar Dimitra Panagou 16 2 0 07 Feb 2024
Distributed Simultaneous Localisation and Auto-Calibration using Gaussian Belief Propagation Riku Murai Ignacio Alzugaray Paul H. J. Kelly Andrew J. Davison 37 8 0 26 Jan 2024
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World Marcus Abate Yun Chang Nathan Hughes Luca Carlone 33 3 0 12 Jan 2024
Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM Miguel Fernández-Cortizas Hriday Bavle David Pérez-Saura J. L. Sánchez-López P. Campoy Holger Voos 22 8 0 10 Jan 2024
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments Annika Thomas Jouko Kinnari Parker C. Lusk Kota Kondo Jonathan P. How 18 3 0 09 Jan 2024
Distributed Pose-graph Optimization with Multi-level Partitioning for Collaborative SLAM Cunhao Li Peng Yi Guanghui Guo Yiguang Hong 26 0 0 03 Jan 2024
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems Eduardo Sebastián T. Duong Nikolay A. Atanasov Eduardo Montijano C. Sagüés 16 2 0 30 Dec 2023
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments Andrew Fishberg Brian J. Quiter Jonathan P. How 31 5 0 29 Dec 2023
SNI-SLAM: Semantic Neural Implicit SLAM Siting Zhu Guangming Wang Hermann Blum Jiuming Liu Liang Song Marc Pollefeys Hesheng Wang 11 43 0 18 Nov 2023
Value of Assistance for Grasping Mohammad Masarwy Yuval Goshen David Dovrat Sarah Keren 11 0 0 22 Oct 2023
Moving Object Localization based on the Fusion of Ultra-WideBand and LiDAR with a Mobile Robot Muhammad Shalihan Zhiqiang Cao Khattiya Pongsirijinda Lin Guo Billy Pik Lik Lau Ran Liu Chau Yuen U-Xuan Tan 11 1 0 16 Oct 2023
Hierarchical Unsupervised Topological SLAM Ayush Sharma Yash Mehan Pradyumna Dasu Sourav Garg Madhava Krishna 25 0 0 07 Oct 2023