Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic
  Simultaneous Localization and Mapping   We present the first fully distributed multi-robot system for dense
metric-semantic Simultaneous Localization and Mapping (SLAM). Our system,
dubbed Kimera-Multi, is implemented by a team of robots equipped with
visual-inertial sensors, and builds a 3D mesh model of the environment in
real-time, where each face of the mesh is annotated with a semantic label
(e.g., building, road, objects). In Kimera-Multi, each robot builds a local
trajectory estimate and a local mesh using Kimera. Then, when two robots are
within communication range, they initiate a distributed place recognition and
robust pose graph optimization protocol with a novel incremental maximum clique
outlier rejection; the protocol allows the robots to improve their local
trajectory estimates by leveraging inter-robot loop closures. Finally, each
robot uses its improved trajectory estimate to correct the local mesh using
mesh deformation techniques. We demonstrate Kimera-Multi in photo-realistic
simulations and real data. Kimera-Multi (i) is able to build accurate 3D
metric-semantic meshes, (ii) is robust to incorrect loop closures while
requiring less computation than state-of-the-art distributed SLAM back-ends,
and (iii) is efficient, both in terms of computation at each robot as well as
communication bandwidth.

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The categories of this paper are: hep-th
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The categories of this paper are: ao-sci
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The categories of this paper are: dg-ga
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The categories of this paper are: math-ph
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The categories of this paper are: quant-ph
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The categories of this paper are: adap-org
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The categories of this paper are: q-bio
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The categories of this paper are: gr-qc
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The categories of this paper are: nlin
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The categories of this paper are: hep-ph
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The categories of this paper are: chao-dyn
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The categories of this paper are: solv-int
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The categories of this paper are: plasm-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: eess
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The categories of this paper are: acc-phys