Kimera-Distributed consists of the distributed front-end module for Kimera-Multi. Please refer to the Kimera-Multi landing page for installation instructions and examples.
If you found Kimera-Multi to be useful, we would really appreciate if you could cite our work:
- [1] Y. Chang, Y. Tian, J. P. How and L. Carlone, "Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping," 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021, pp. 11210-11218, doi: 10.1109/ICRA48506.2021.9561090.
@INPROCEEDINGS{chang21icra_kimeramulti,
author={Chang, Yun and Tian, Yulun and How, Jonathan P. and Carlone, Luca},
booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
title={Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping},
year={2021},
volume={},
number={},
pages={11210-11218},
doi={10.1109/ICRA48506.2021.9561090}
}
- [2] Y. Tian, Y. Chang, F. Herrera Arias, C. Nieto-Granda, J. P. How and L. Carlone, "Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems," in IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2022-2038, Aug. 2022, doi: 10.1109/TRO.2021.3137751.
@ARTICLE{tian22tro_kimeramulti,
author={Tian, Yulun and Chang, Yun and Herrera Arias, Fernando and Nieto-Granda, Carlos and How, Jonathan P. and Carlone, Luca},
journal={IEEE Transactions on Robotics},
title={Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems},
year={2022},
volume={38},
number={4},
pages={2022-2038},
doi={10.1109/TRO.2021.3137751}
}