【Bubble One Minute】Efficient-Communication, Robust and Accurate Multi-Agent Collaborative SLAM Based on Smartphones

RAMA-SLAM proposes a multi-agent collaborative visual-inertial SLAM system based on a centralized client-server (CS) architecture, with clients running on smartphones, achieving experience sharing through enhanced geometric verification, error-aware weighted reprojection optimization, and a flexible map fusion strategy. The system was tested on the EuRoC dataset and in real environments, where results outperformed existing methods, and it demonstrated the stability of collaborative SLAM in a real environment with 7.55 Mbps bandwidth.