MR-iSAM2: Incremental Smoothing and Mapping with Multi-Root Bayes Tree for Multi-Robot SLAM

Yetong Zhang,Ming Hsiao,Jing Dong,Jakob Engel,Frank Dellaert,Yetong Zhang,Ming Hsiao,Jing Dong,Jakob Engel,Frank Dellaert

We present multi-robot iSAM2 (MR-iSAM2), an efficient incremental smoothing and mapping (iSAM) algorithm to solve multi-robot simultaneous localization and mapping (SLAM) inference problems. MR-iSAM2 is based on a novel data structure multi-root Bayes tree (MRBT), which packs multiple Bayes trees with the same undirected clique structure. In multi-robot scenarios, the MRBT enables new measurements...