Descriptor Distillation for Efficient Multi-Robot SLAM
Xiyue Guo,Junjie Hu,Hujun Bao,Guofeng Zhang,Xiyue Guo,Junjie Hu,Hujun Bao,Guofeng Zhang
Performing accurate localization while maintaining the low-level communication bandwidth is an essential challenge of multi-robot simultaneous localization and mapping (MR-SLAM). In this paper, we tackle this problem by generating a compact yet discriminative feature descriptor with minimum inference time. We propose descriptor distillation that formulates the descriptor generation into a learning...
