Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World

Author: Abate

Year: 2024

Notes:

Enhance Kimera:
- Better feature tracking
- More efficient KF selection
- New pose graph optimization backend
- New inputs (rgbd, mono, wheel odometry)
New trend: LLM for hierarchical spatial representation
Use BetweenFactor of GTSAM to improve odometry with external inputs (LiDAR / wheel etc..)
Feature binning with an input mask
KF voting based on disparity between frames (wtf? c nul)
Previously, rejects bad loop closure with Pairwise Consistent Measurement Set Maximisation, now with graduated non convexity
ablation studies blablabla