# DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems

arXiv: https://arxiv.org/abs/2503.04126 · HTML: https://mlsanity.com/paper/2503.04126/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 14 of its 38 references that are in the map.
- First posted on arXiv 6 Mar 2025.

## Builds on (most cited first, 14 of 14)

- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [The TUM VI Benchmark for Evaluating Visual-Inertial Odometry](https://mlsanity.com/paper/1804.06120/) (2018)
- [Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems](https://mlsanity.com/paper/2106.14386/) (2021)
- [DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams](https://mlsanity.com/paper/1909.12198/) (2019)
- [Data-Efficient Decentralized Visual SLAM](https://mlsanity.com/paper/1710.05772/) (2017)
- [ARock: an Algorithmic Framework for Asynchronous Parallel Coordinate Updates](https://mlsanity.com/paper/1506.02396/) (2015)
- [Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems](https://mlsanity.com/paper/2301.06230/) (2023)
- [Distributed Certifiably Correct Pose-Graph Optimization](https://mlsanity.com/paper/1911.03721/) (2019)
- [COVINS: Visual-Inertial SLAM for Centralized Collaboration](https://mlsanity.com/paper/2108.05756/) (2021)
- [Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models](https://mlsanity.com/paper/1702.03435/) (2017)
- [D2SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm](https://mlsanity.com/paper/2211.01538/) (2022)
- [The Cambridge RoboMaster: An Agile Multi-Robot Research Platform](https://mlsanity.com/paper/2405.02198/) (2024)
- [Distributed Visual-Inertial Cooperative Localization](https://mlsanity.com/paper/2103.12770/) (2021)

## Abstract (arXiv)

Cooperative Simultaneous Localization and Mapping (C-SLAM) enables multiple agents to work together in mapping unknown environments while simultaneously estimating their own positions. This approach enhances robustness, scalability, and accuracy by sharing information between agents, reducing drift, and enabling collective exploration of larger areas. In this paper, we present Decentralized Visual Monocular SLAM (DVM-SLAM), the first open-source decentralized monocular C-SLAM system. By only utilizing low-cost and light-weight monocular vision sensors, our system is well suited for small robots and micro aerial vehicles (MAVs). DVM-SLAM's real-world applicability is validated on physical robots with a custom collision avoidance framework, showcasing its potential in real-time multi-agent autonomous navigation scenarios. We also demonstrate comparable accuracy to state-of-the-art centralized monocular C-SLAM systems. We open-source our code and provide supplementary material online.