COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA（2023）
关键词
2D image data,arbitrary VIO,central back-end,centralized architecture,collaborative back-end,collaborative SLAM systems,common reference frame,COVINS [1] framework,COVINS-G codebase,estimation algorithm,existing VIO,generalized back-end building,generalized front-end wrapper,generic back-end,joint maps,keyframes,KFs,loop-closure constraints,multicamera,multirobot systems,odometry capabilities,off-the-shelf cameras,Realsense T265,server-back-end,state-of-the-art multisession,Visual-Inertial Odometry,Visual-Inertial SLAM
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