Kimera-Multi

Kimera-Multi is a multi-robot system that was first presented in (Chang et al., 2021). It is built to be robust to incorrect inter and intra-robot loop closures resulting from perceptual aliasing, fully distributed and only relies on local (peer-to-peer) communication to achieve distributed localization and mapping, and builds a globally consistent metric-semantic 3D mesh model of the environment in real-time. Kimera-Multi is field tested in many indoor and outdoor environments. We not only open-source the code, but also release a few large-scale hybrid indoor/outdoor datasets collected on the MIT campus.

Please check out our repo.

For a detailed description of the project, please refer to (Tian et al., 2022). (Tian et al., 2023) provide a deeper dive into the system and real world experiments.

1. Tian, Y., Chang, Y., Quang, L., Schang, A., Nieto-Granda, C., How, J. P., & Carlone, L. (2023). Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).

   @inproceedings{Tian23iros-KimeraMultiExperiments,
     author = {Tian, Y. and Chang, Y. and Quang, L. and Schang, A. and Nieto-Granda, C. and How, J.P. and Carlone, L.},
     title = {Resilient and Distributed Multi-Robot Visual {SLAM}: Datasets, Experiments, and Lessons Learned},
     booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
     note = {\linkToPdf{https://arxiv.org/pdf/2304.04362.pdf},\linkToVideo{https://youtu.be/7yYMRNMdKjY},\linkToCode{https://github.com/MIT-SPARK/Kimera-Multi},\linkToWeb{https://github.com/MIT-SPARK/Kimera-Multi-Data}},
     pdf = {https://arxiv.org/pdf/2304.04362.pdf},
     year = {2023}
   }
   

2. Tian, Y., Chang, Y., Arias, F. H., Nieto-Granda, C., How, J. P., & Carlone, L. (2022). Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. IEEE Trans. Robotics.

   @article{Tian22tro-KimeraMulti,
     title = {{Kimera-Multi}: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems},
     author = {Tian, Y. and Chang, Y. and Arias, F. Herrera and Nieto-Granda, C. and How, J.P. and Carlone, L.},
     journal = {{IEEE} Trans. Robotics},
     note = {accepted, arXiv preprint: 2106.14386, \linkToPdf{https://arxiv.org/pdf/2106.14386.pdf}},
     pdf = {https://arxiv.org/pdf/2106.14386.pdf},
     code = {https://github.com/MIT-SPARK/Kimera-Multi},
     bestpaper = {https://spectrum.ieee.org/multi-robot-slam-icra2023},
     year = {2022}
   }
   

3. Chang, Y., Tian, Y., How, J. P., & Carlone, L. (2021). Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA).

   @inproceedings{Chang21icra-KimeraMulti,
     title = {{Kimera-Multi}: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping},
     author = {Chang, Y. and Tian, Y. and How, J.P. and Carlone, L.},
     booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
     note = {arXiv preprint: 2011.04087, \linkToPdf{https://arxiv.org/pdf/2011.04087.pdf}},
     pdf = {https://arxiv.org/pdf/2011.04087.pdf},
     code = {https://github.com/MIT-SPARK/Kimera-Multi},
     year = {2021}
   }