Cross-Agent Relocalization for Decentralized Collaborative SLAM
Philipp Bänninger,Ignacio Alzugaray,Marco Karrer,Margarita Chli,Philipp Bänninger,Ignacio Alzugaray,Marco Karrer,Margarita Chli
State-of-the-art decentralized collaborative Simultaneous Localization And Mapping (SLAM) systems crucially lack the ability to effectively use well-mapped areas generated by other agents in the team for relocalization. This often leads to map redundancy between agents, inefficient communication, and the need for costly re-mapping of areas previously mapped by other agents. In this work, we propos...
