CVIDS: A Collaborative Localization and Dense Mapping Framework for Multi-Agent Based Visual-Inertial SLAM

Abstract

Nowadays, visual SLAM (Simultaneous Localization And Mapping) has become a hot research topic due to its low costs and wide application scopes. Traditional visual SLAM frameworks are usually designed for single-agent systems, completing both the localization and the mapping with sensors equipped on a single robot or a mobile device. However, the mobility and work capacity of the single agent are usually limited. In reality, robots or mobile devices sometimes may be deployed in the form of clusters, such as drone formations, wearable motion capture systems, and so on. As far as we know, existing SLAM systems designed for multi-agents are still sporadic, and most of them have non-negligible limitations in functions. Specifically, on one hand, most of the existing multi-agent SLAM systems can only extract some key features and build sparse maps. On the other hand, schemes that can reconstruct the environment densely cannot get rid of the dependence on depth sensors, such as RGBD cameras or LiDARs. Systems that can yield high-density maps just with monocular camera suites are temporarily lacking. As an attempt to fill in the research gap to some extent, we design a novel collaborative SLAM system, namely CVIDS (Collaborative Visual-Inertial Dense SLAM), which follows a centralized and loosely coupled framework and can be integrated with any existing Visual-Inertial Odometry (VIO) to accomplish the co-localization and the dense reconstruction. Integrating our proposed robust loop closure detection module and two-stage pose-graph optimization pipeline, the co-localization module of CVIDS can estimate the poses of different agents in a unified coordinate system efficiently from the packed images and local poses sent by the client-ends of different agents. Besides, our motion-based dense mapping module can effectively recover the 3D structures of selected keyframes and then fuse their depth information to the global map for reconstruction. The superior performance of CVIDS is corroborated by both quantitative and qualitative experimental results. To make our results reproducible, the source code has been released at https://cslinzhang.github.io/CVIDS.