CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots

With the single-robot visual SLAM method reaching maturity, the issue of collaboratively exploring unknown environments by multiple robots attracts increasing attention. In this paper, we present CORB-SLAM, a novel collaborative multi-robot visual SLAM system providing map fusing and map sharing capabilities. Experimental results on popular public datasets demonstrate the performance of the CORB-SLAM. Furthermore, we make the source code of CORB-SLAM to be publicly available (https://github.com/lifunudt/CORB-SLAM.git).

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