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COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
| Date | Stars |
|---|---|
| 2026-07-31 | 455 |
| 2026-08-05 | 455 |
| 2026-08-06 | 455 |
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# COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
**Version 2.0** (Support for COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM)
COVINS is an accurate, scalable, and versatile visual-inertial collaborative SLAM system, that enables a group of agents to simultaneously co-localize and jointly map an environment. COVINS provides a server back-end for collaborative SLAM, running on a local machine or a remote cloud instance, generating collaborative estimates from map data contributed by different agents running Visual-Inertial Odomety (VIO) and sharing their map with the back-end.
With the COVINS-G release, we make the server back-end flexible enabling compatibility with any arbitrary VIO/Stereo front-end, including, for example, off-the-shelf cameras with odometry capabilities, such as the Realsense T265.
We provide guidance and examples how to run COVINS and COVINS-G on the [EuRoC dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets), as well as information beyond basic deployment, for example how the COVINS back-end can be deployed on a remote cloud computing instance. Instructions on running COVINS-G with different cameras such as Intel Realsense D455 and T265 Tracking camera, as well as different frontends like VINS-Fusion, ORB-SLAM3 and SVO-pro are also provided.
## Index
- [1 Related Publications](#1-related-publications)
- [2 License](#2-license)
- [3 Basic Setup](#3-basic-setup)
- [Environment Setup](#environment-setup)
- [COVINS Installation](#covins-installation)
- [Installing ROS Support for the ORB-SLAM3 Front-End](#setup_ros)
- [Installing VINS-Fusion Front-End](#installing-vins-fusion-front-end)
- [4 Running COVINS](#4-running-covins)
- [COVINS Back-End](#run_covins)
- [Running the COVINS Server Back-End](/docs/run_COVINS.md#run_be)
- [Running the ORB-SLAM3 Front-End](docs/run_COVINS.md#run_fe)
- [Visualization](docs/run_COVINS.md#run_viz)
- [User Interaction](docs/run_COVINS.md#run_intercation)
- [Parameters](docs/run_COVINS.md#run_params)
- [Output Files](docs/run_COVINS.md#run_out)
- [Running COVINS with ROS](docs/run_COVINS.md#run_ros)
- [COVINS-G Back-End](#run_covinsg)
- [Running the COVINS-G Server Back-End](docs/run_COVINS-G.md#run_be)
- [ORB-SLAM3 Front-End](docs/run_COVINS-G.md#run_fe_orb)
- [VINS-Fusion Front-End](docs/run_COVINS-G.md#run_fe_vins)
- [ROS-based Front-End Wrapper](docs/run_COVINS-G.md#run_fe_ros)
- [Mixture of Front-Ends](docs/run_COVINS-G.md#run_fe_mix)
- [Realsense T265 Tracking Camera](docs/run_COVINS-G.md#run_t265)
- [Custom Dataset (Realsense D455)](docs/run_COVINS-G.md#run_d455)
- [Using SIFT Features](docs/run_COVINS-G.md#run_sift)
- [Visualization](docs/run_COVINS-G.md#run_viz)
- [User Interaction](docs/run_COVINS-G.md#run_intercation)
- [Parameters](docs/run_COVINS-G.md#run_params)
- [Output Files](docs/run_COVINS-G.md#run_out)
- [5 Docker Implementation](#5-docker-implementation)
- [Building the Docker Image](#building-the-docker-image)
- [Running the Docker Image](#running-the-docker-image)
- [6 Extended Functionalities](#6-extended-functionalities)
- [Deployment of the COVINS Back-End in an AWS Cloud Instance](#deployment-of-the-covins-back-end-in-an-aws-cloud-instance)
- [Interfacing a Custom VIO System with COVINS](#interfacing-a-custom-vio-system-with-covins)
- [Map Re-Use Onboard the Agent (Only for COVINS)](#map-re-use-onboard-the-agent-only-for-covins)
- [7 Limitations and Known Issues](#7-limitations-and-known-issues)
<a name="related_publications"></a>
## 1 Related Publications
[***COVINS-G***] Manthan Patel, Marco Karrer, Philipp Bänninger and Margarita Chli. **COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM**. *IEEE International Conference on Robotics and AutomatExcerpt of 26,673 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:f2905f66f86d5d65, llm:Repository description: "COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping" (C++, multi-agent SLAM, 3D mapping).
matched fp:f2905f66f86d5d65, llm:Repository description: "COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping" (C++, multi-agent SLAM, 3D mapping).