主流多机SLAM框架1——Kimera-Multi

Kimera-Multi是MIT SPARK实验室提出的一种多机协同SLAM算法，共有ICRA和TRO两个版本，本文将对其系统进行深入理解。

Kimera-Multi ICRA 版：

@INPROCEEDINGS{9561090,
  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},
  keywords={Solid modeling;Three-dimensional displays;Simultaneous localization and mapping;Protocols;Computational modeling;Data models;Trajectory},
  doi={10.1109/ICRA48506.2021.9561090}}

Kimera-Multi TRO 版：

@ARTICLE{9686955,
  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},
  keywords={Simultaneous localization and mapping;Trajectory;Collaboration;Semantics;Estimation;Robot kinematics;Solid modeling;Multi-robot systems;simultaneous localization and mapping;robot vision systems},
  doi={10.1109/TRO.2021.3137751}}

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