distributed_msckf

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distributed_msckf

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Code for RA-L paper "Multi-Robot Object SLAM using Distributed Variational Inference"

// repository documentation

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# Multi-robot Object SLAM with Distributed Variational Inference

[[Paper](https://arxiv.org/abs/2404.18331)]

![](https://raw.githubusercontent.com/ExistentialRobotics/distributed_msckf/master/assets/teaser.png)

## Run the code

To run the algorithm on KITTI sequence 00. Change `consensus_average` value in the corresponding [config file](params/kitti_00.yaml) to switch between original MSCKF and our propose distributed MSCKF with consensus averaging.

```shell
python run.py --dataset kitti --data_id 00
```

To run it on simulation with 15 robots. Change `consensus_average` value in the corresponding [config file](params/simulated_nrobot_15.yaml) to switch between original MSCKF and our propose distributed MSCKF with consensus averaging.
```shell
python run.py --dataset simulated --data_id nrobot_15
```

## Evaluation

To evaluate the results on KITTI sequence 00
```shell
python evaluate_results.py --dataset kitti --data_id 00
```

To evaluate the results on simulation with 15 robots
```shell
python evaluate_results.py --dataset simulated --data_id nrobot_15
```

## Citation
If you find this work useful, please consider to cite our paper:
```
@article{cao2024multi,
  title = {Multi-Robot Object {SLAM} Using Distributed Variational Inference},
  author = {Cao, Hanwen and Shreedharan, Sriram and Atanasov, Nikolay},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2024},
  volume = {9},
  number = {10},
  pages = {8722-8729},
  url = {https://arxiv.org/abs/2404.18331},
  doi = {https://doi.org/10.1109/LRA.2024.3451389}
}
```

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