I am looking for open source code or information on cooperative multi-robot slam based on multi-sensor fusion. I have searched for a long time but only found an open source code based on monocular camera - ccm_slam. which doesn't fit my needs and I don't know how to change the monocular camera in the code to a depth camera (d455) fused with lidar. Please help or try to give some ideas how to achieve this. thanks in advance.
I only found one open source code based on monocular camera on github - ccm_slam
I had the same question in my graduation design, and i borrowed a sweeping robot and learned from its lidar/imu mapping algorithm. Maybe you can have a try.