CCM-SLAM -- Centralized Collaborative Monocular SLAM

Update: COVINS -- Collaborative Visual-Inertial SLAM: We have released COVINS, a new framework for collaborative visual-inertial SLAM: [Paper] [Code]

Version 1.1

Previous Versions: CCM-SLAM v1.0

1 Related Publications

[1] Patrik Schmuck and Margarita Chli. Multi-UAV Collaborative Monocular SLAM. IEEE International Conference on Robotics and Automation (ICRA), 2017. PDF.

[2] Patrik Schmuck and Margarita Chli. CCM‐SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams. Journal of Field Robotics (JFR), 2019. PDF

Video:

1.1 Major Modifications

Compared to the implementation described in [2], some modules of this framework experienced major modification in this implementation:

• Global BA (performed when merging two maps or after loop closure) is interrupted as soon as new data from an agent arrives. This speeds up the system, however might affect the accuracy of the estimate during the mission.