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"

47 / 47 papers shown

Title
CU-Multi: A Dataset for Multi-Robot Data Association Doncey Albin Miles Mena Annika Thomas Harel Biggie Xuefei Sun Dusty Woods Steve McGuire Christoffer Heckman 41 0 0 23 May 2025
SG-Reg: Generalizable and Efficient Scene Graph Registration Chuhao Liu Zhijian Qiao Jieqi Shi Ke Wang Peize Liu Shaojie Shen 75 0 0 20 Apr 2025
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition Nikolaos Stathoulopoulos Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 99 1 0 20 Feb 2025
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 75 4 0 10 Oct 2024
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 73 2 0 13 Sep 2024
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization Frederike Dumbgen Connor T. Holmes Timothy D. Barfoot 56 1 0 04 Jun 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 85 6 0 08 May 2024
Robotic Exploration using Generalized Behavioral Entropy A. Suresh Carlos Nieto-Granda Sonia Martínez 49 3 0 15 Feb 2024
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems Eduardo Sebastián T. Duong Nikolay Atanasov Eduardo Montijano C. Sagüés 104 3 0 30 Dec 2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics Connor T. Holmes Frederike Dumbgen Timothy D. Barfoot 77 10 0 14 Aug 2023
Majorization Minimization Methods for Distributed Pose Graph Optimization Taosha Fan Todd Murphey 70 19 0 30 Jul 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 74 143 0 21 Mar 2021
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs Antoni Rosinol Andrew Violette Marcus Abate Nathan Hughes Yun Chang Jingang Shi Arjun Gupta Luca Carlone 3DV 68 235 0 18 Jan 2021
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping Yun Chang Yulun Tian Jonathan P. How Luca Carlone 70 69 0 08 Nov 2020
GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization E. Cristofalo Eduardo Montijano Mac Schwager 51 9 0 01 Oct 2020
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications Pasquale Antonante Vasileios Tzoumas Heng Yang Luca Carlone 54 54 0 29 Jul 2020
Distributed Consistent Multi-Robot Semantic Localization and Mapping Vladimir Tchuiev Vadim Indelman 50 17 0 06 Jul 2020
Asynchronous and Parallel Distributed Pose Graph Optimization Yulun Tian Alec Koppel Amrit Singh Bedi Jonathan P. How 82 38 0 06 Mar 2020
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans Antoni Rosinol Arjun Gupta Marcus Abate Jingang Shi Luca Carlone 71 194 0 15 Feb 2020
Distributed Certifiably Correct Pose-Graph Optimization Yulun Tian Kasra Khosoussi David M. Rosen Jonathan P. How 67 69 0 09 Nov 2019
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping Antoni Rosinol Marcus Abate Yun Chang Luca Carlone 58 450 0 06 Oct 2019
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams Pierre-Yves Lajoie Benjamin Ramtoula Yun Chang Luca Carlone Giovanni Beltrame 50 181 0 26 Sep 2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 216 227 0 18 Sep 2019
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees Yulun Tian Kasra Khosoussi Jonathan P. How 39 27 0 10 Jul 2019
Active Scene Understanding via Online Semantic Reconstruction Lintao Zheng Chenyang Zhu JIazhao Zhang Hang Zhao Hui Huang Matthias Niessner Kai Xu 27 37 0 18 Jun 2019
Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities Antoni Rosinol Torsten Sattler Marc Pollefeys Luca Carlone 48 45 0 04 Mar 2019
Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery Margarita Grinvald Fadri Furrer Tonci Novkovic Jen Jen Chung Cesar Cadena Roland Siegwart Juan I. Nieto 3DPC 66 228 0 01 Mar 2019
MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM Binbin Xu Wenbin Li Dimos Tzoumanikas Michael Bloesch Andrew J. Davison Stefan Leutenegger 76 189 0 19 Dec 2018
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models Pierre-Yves Lajoie Siyi Hu Giovanni Beltrame Luca Carlone 51 82 0 27 Oct 2018
Fusion++: Volumetric Object-Level SLAM J. McCormac R. Clark Michael Bloesch Andrew J. Davison Stefan Leutenegger 3DH 82 309 0 25 Aug 2018
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection Yulun Tian Kasra Khosoussi Matthew Giamou Jonathan P. How Jonathan Kelly 110 21 0 01 Jun 2018
MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects Martin Rünz Maud Buffier Lourdes Agapito 96 351 0 24 Apr 2018
FutureMapping: The Computational Structure of Spatial AI Systems Andrew J. Davison 48 70 0 29 Mar 2018
Open3D: A Modern Library for 3D Data Processing Qian-Yi Zhou Jaesik Park V. Koltun PINN AI4CE 55 1,611 0 30 Jan 2018
Convex Relaxations for Pose Graph Optimization with Outliers Luca Carlone G. Calafiore 65 55 0 07 Jan 2018
Data-Efficient Decentralized Visual SLAM Titus Cieslewski Siddharth Choudhary Davide Scaramuzza 78 186 0 16 Oct 2017
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects Martin Rünz Lourdes Agapito VOT 60 210 0 20 Jun 2017
Efficient Decentralized Visual Place Recognition From Full-Image Descriptors Titus Cieslewski Davide Scaramuzza 53 34 0 30 May 2017
A Review on Deep Learning Techniques Applied to Semantic Segmentation Alberto Garcia-Garcia Sergio Orts Sergiu Oprea Victor Villena-Martinez Jose Garcia-Rodriguez 3DV SSeg 98 1,276 0 22 Apr 2017
CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction Keisuke Tateno Federico Tombari Iro Laina Nassir Navab MDE 68 683 0 11 Apr 2017
Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models Siddharth Choudhary Luca Carlone Carlos Nieto-Granda J. Rogers H. Christensen F. Dellaert 44 121 0 11 Feb 2017
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group David M. Rosen Luca Carlone Afonso S. Bandeira J. Leonard 93 347 0 01 Nov 2016
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks J. McCormac Ankur Handa Andrew J. Davison Stefan Leutenegger 3DPC 57 555 0 16 Sep 2016
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry Christian Forster Luca Carlone F. Dellaert Davide Scaramuzza 55 1,095 0 08 Dec 2015
NetVLAD: CNN architecture for weakly supervised place recognition Relja Arandjelović Petr Gronát Akihiko Torii Tomas Pajdla Josef Sivic 3DV SSL 116 2,631 0 23 Nov 2015
Parallel Maximum Clique Algorithms with Applications to Network Analysis and Storage Ryan A. Rossi D. Gleich A. Gebremedhin Md. Mostofa Ali Patwary GNN 64 107 0 25 Feb 2013
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization Luca Carlone A. Censi 64 79 0 13 Nov 2012