Code: CCM-SLAM

Centralized Collaborative Monocular SLAM for Robotic Teams

This is a centralized collaborative SLAM framework for a team of robots, each equipped with monocular camera. These robots can employ CCM-​SLAM to co-​localize, while building a 3D map of their surroundings in real-​time, in a collaborative fashion by sharing their experiences of the environment with each other. Without any assumptions on the robots' prior constellation of poses, CCM-​SLAM enables collaborative SLAM, joining any robots' maps that experience overlap and enabling sharing of information amongst them. While there is built-​in tolerance to network delays, in the worst case scenario of total communication loss, the robots are still able to run monocular odometry onboard their own processors. The software for CCM-​SLAM is publicly available and can be accessed from link.

Users of this software are kindly asked to cite at least one of the following papers, where it was introduced:

Patrik Schmuck and Margarita Chli, "Multi-​UAV Collaborative Monocular SLAM" in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017. DOI Research Collection

Patrik Schmuck and Margarita Chli, "CCM-​SLAM: Robust and Efficient Centralized Collaborative Monocular SLAM for Robotic Teams" in Journal of Field Robotics (JFR), 2019. DOI Research Collection