COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM
Manthan Patel,Marco Karrer,Philipp Bänninger,Margarita Chli,Manthan Patel,Marco Karrer,Philipp Bänninger,Margarita Chli
Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital importance for any coordination amongst them. 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...
