CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features

Xin Liu; Shuhuan Wen; Huaping Liu; Fei Yu

doi:10.1109/jiot.2025.3548958

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CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features

Xin Liu Shuhuan Wen Huaping Liu Fei Yu

Year: 2025 Journal: IEEE Internet of Things Journal Vol: 12 (12)Pages: 21866-21875 Publisher: Institute of Electrical and Electronics Engineers

DOI: 10.1109/jiot.2025.3548958

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Keywords:

Computer science Simultaneous localization and mapping Computer vision Artificial intelligence Robot Inertial frame of reference Point (geometry) Line (geometry) Robot kinematics Mobile robot Mathematics

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Robotics and Sensor-Based Localization

Physical Sciences → Engineering → Aerospace Engineering

Robotic Path Planning Algorithms

Physical Sciences → Computer Science → Computer Vision and Pattern Recognition

3D Surveying and Cultural Heritage

Physical Sciences → Earth and Planetary Sciences → Geology

CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features

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