{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/data-efficient-collaborative-decentralized","title":"Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry","arxiv_id":"2209.06588","date":"2022-09-14","proceeding":null,"authors":["Vincenzo Polizzi","Robert Hewitt","Javier Hidalgo-Carrió","Jeff Delaune","Davide Scaramuzza"],"abstract":"We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine its state estimate. Our system front-end applies an online photometric calibration to refine the thermal images so as to enhance feature tracking and place recognition. Our system back-end uses a covariance-intersection fusion strategy to neglect the cross-correlation between agents so as to lower memory usage and computational cost. The communication pipeline uses Vector of Locally Aggregated Descriptors (VLAD) to construct a request-response policy that requires low bandwidth usage. We test our collaborative method on both synthetic and real-world data. Our results show that the proposed method improves by up to 46 % trajectory estimation with respect to an individual-agent approach, while reducing up to 89 % the communication exchange. Datasets and code are released to the public, extending the already-public JPL xVIO library.","url_abs":"https://arxiv.org/abs/2209.06588v1","url_pdf":"https://arxiv.org/pdf/2209.06588v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"data-efficient-collaborative-decentralized","repo_url":"https://github.com/jpl-x/x_multi_agent","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"state-estimation","task_name":"State Estimation"}],"methods":[{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}