├── README.md ├── SLAM_Research_2018.md ├── SLAM_Research_2019.md ├── SLAM_Research_2020.md └── SLAM能力图.png /README.md: -------------------------------------------------------------------------------- 1 | 2 | # Recent_SLAM_Research_2021 3 | [SLAM research 2018](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2018.md) 4 | 5 | [SLAM research 2019](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2019.md) 6 | 7 | [SLAM research 2020](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2020.md) 8 | 9 | 10 | ### SLAM 11 | #### 1. [Fusion] 2021-01-14-[Visual-IMU State Estimation with GPS and OpenStreetMap for Vehicles on a Smartphone](https://ieeexplore.ieee.org/abstract/document/9305386) 12 | #### 2. [Math] 2021-01-14-[On the Tightness of Semidefinite Relaxations for Rotation Estimation](https://arxiv.org/pdf/2101.02099.pdf) 13 | #### 3. [Calibration] 2021-01-14-[On-the-fly Extrinsic Calibration of Non-Overlapping in-Vehicle Cameras based on Visual SLAM under 90-degree Backing-up Parking](https://ieeexplore.ieee.org/abstract/document/9304530) 14 | #### 4. [Descriptor] 2021-01-14-[ASD-SLAM: A Novel Adaptive-Scale Descriptor Learning for Visual SLAM](https://ieeexplore.ieee.org/abstract/document/9304626) 15 | #### 5. [Panoramas] 2021-01-14-[UPSLAM: Union of Panoramas SLAM](https://arxiv.org/pdf/2101.00585.pdf) 16 | #### 6. [PhD thesis] 2021-01-14-[Uncertainty-Aware Attention Guided Sensor Fusion For Monocular Visual Inertial Odometry](https://elib.dlr.de/137048/1/thesis_ks.pdf) 17 | #### 7. [Calibration] 2021-01-23-[Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups](https://arxiv.org/pdf/2101.04431.pdf) 18 | #### 8. [Math] 2021-01-23-[Factor Graphs: Exploiting Structure in Robotics](https://www.annualreviews.org/doi/abs/10.1146/annurev-control-061520-010504) 19 | #### 9. [ICP] 2021-01-23-[Provably Approximated ICP](https://arxiv.org/pdf/2101.03588.pdf) 20 | #### 10. [MC-slam] 2021-01-23-[TIMA SLAM: Tracking Independently and Mapping Altogether for an Uncalibrated Multi-Camera System](https://www.mdpi.com/1424-8220/21/2/409) 21 | #### 11. [VIO] 2021-02-09-[Open AccessArticle Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles](https://www.mdpi.com/2218-6581/10/1/23/htm) 22 | #### 12. [VIO] 2021-02-09-[VIO-Aided Structure from Motion Under Challenging Environments](https://arxiv.org/pdf/2101.09657.pdf) 23 | #### 13. [Calibration] 2021-02-09-[High-Precision Multicamera-Assisted Camera-IMU Calibration: Theory and Method](https://ieeexplore.ieee.org/abstract/document/9324746) 24 | #### 14. [DirectVO] 2021-02-09-[Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry](https://arxiv.org/pdf/2102.01191.pdf) 25 | #### 15. [Calibration] 2021-02-25-[Simultaneous End User Calibration of Multiple Magnetic Inertial Measurement Units With Associated Uncertainty](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9348890) 26 | #### 16. [VSLAM] 2021-02-25-[Point-line-based RGB-D SLAM and Bundle Adjustment Uncertainty Analysis](https://arxiv.org/pdf/2102.07110.pdf) 27 | #### 17. [VIO] 2021-02-25-[Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM](https://arxiv.org/pdf/2102.08596.pdf) 28 | #### 18. [VIO] 2021-03-09-[OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications](https://arxiv.org/pdf/2102.04060.pdf) 29 | #### 19. [LVIO] 2021-03-09-[R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping](https://arxiv.org/pdf/2102.12400.pdf) 30 | #### 20. [Review] 2021-03-09-[Visual and Visual-Inertial SLAM: State of the Art, Classification,and Experimental Benchmarking](https://www.hindawi.com/journals/js/2021/2054828/) 31 | #### 21. [DVS] 2021-03-09-[Data-set for Event-based Optical Flow Evaluation in Robotics Applications](https://www.scitepress.org/Papers/2021/103203/103203.pdf) 32 | #### 22. [Lidar slam] 2021-03-09-[GR-LOAM: LiDAR-based sensor fusion SLAM for ground robots on complex terrain](https://www.sciencedirect.com/science/article/abs/pii/S0921889021000440) 33 | #### 23. [Fusion] 2021-03-09-[Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization](https://ieeexplore.ieee.org/abstract/document/9350155) 34 | #### 24. [VIO] 2021-03-09-[Accurate Visual-Inertial SLAM by Feature Re-identification](https://arxiv.org/pdf/2102.13438.pdf) 35 | #### 25. [Filter] 2021-03-09-[PHD-SLAM 2.0: Efficient SLAM in the Presence of Missdetections and Clutter](https://ieeexplore.ieee.org/abstract/document/9347824) 36 | #### 26. [R-LOAM] 2021-03-09-[R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object](https://ieeexplore.ieee.org/abstract/document/9357902) 37 | #### 27. [VIO] 2021-03-09-[A One-Step Visual-Inertial Ego-Motion Estimation using Photometric Feedback](https://ieeexplore.ieee.org/abstract/document/9351635) 38 | #### 28. [Panoramic] 2021-03-09-[Panoramic annular SLAM with loop closure and global optimization](https://arxiv.org/pdf/2102.13400.pdf) 39 | #### 29. [Fusion] 2021-03-09-[Visual-Gyroscope-Wheel Odometry with Ground Plane Constraint for Indoor Robots in Dynamic Environment](https://ieeexplore.ieee.org/abstract/document/9347674) 40 | #### 30. [Learned VO] 2021-03-09-[DF-VO: What Should Be Learnt for Visual Odometry?](https://arxiv.org/pdf/2103.00933.pdf) 41 | #### 31. [Fusion] 2021-03-09-[An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation](https://pubmed.ncbi.nlm.nih.gov/33668886/) 42 | #### 32. [VIO] 2021-03-09-[Run Your Visual-Inertial Odometry on NVIDIA Jetson : Benchmark Tests on a Micro Aerial Vehicle](https://arxiv.org/pdf/2103.01655.pdf) 43 | #### 33. [Reconstruction] 2021-03-09-[A Pose-only Solution to Visual Reconstruction and Navigation](https://arxiv.org/pdf/2103.01530.pdf) 44 | #### 34. [Reconstruction] 2021-03-09-[Square Root Bundle Adjustment for Large-Scale Reconstruction](https://arxiv.org/pdf/2103.01843.pdf) 45 | #### 35. [Fusion] 2021-03-09-[Range-Visual-Inertial Odometry: Scale Observability Without Excitation](https://ieeexplore.ieee.org/abstract/document/9353193) 46 | #### 36. [Optimization] 2021-03-09-[Sparse Pose Graph Optimization in Cycle Space](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9346012) 47 | #### 37. [DeepVO] 2021-03-26-[Deep Online Correction for Monocular Visual Odometry](https://arxiv.org/pdf/2103.10029.pdf) 48 | #### 38. [RP-VIO] 2021-03-26-[RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments](https://arxiv.org/pdf/2103.10400.pdf) 49 | #### 39. [Application] 2021-03-26-[Small Commercial UAVs for Indoor Search and Rescue Missions](https://ieeexplore.ieee.org/abstract/document/9376551) 50 | #### 40. [calibration] 2021-04-01-[A Joint Extrinsic Calibration Tool for Radar, Camera and Lidar](https://www.researchgate.net/publication/335144582_An_Extrinsic_Calibration_Tool_for_Radar_Camera_and_Lidar) 51 | #### 41. [Learning SFM] 2021-04-01-[DRO: Deep Recurrent Optimizer for Structure-from-Motion](https://arxiv.org/pdf/2103.13201.pdf) 52 | #### 42. [VIO] 2021-04-01-[Distributed Visual-Inertial Cooperative Localization](https://arxiv.org/pdf/2103.12770.pdf) 53 | #### 43. [VO] 2021-04-01-[MBA-VO: Motion Blur Aware Visual Odometry](https://arxiv.org/pdf/2103.13684.pdf) 54 | #### 44. [Reconstruction] 2021-04-14-[Sketch2Mesh: Reconstructing and Editing 3D Shapes from Sketches](https://arxiv.org/pdf/2104.00482.pdf) 55 | #### 45. [Reconstruction] 2021-04-14-[Deep Two-View Structure-from-Motion Revisited](https://arxiv.org/pdf/2104.00556.pdf) 56 | #### 46. [Reconstruction] 2021-04-14-[NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video](https://arxiv.org/pdf/2104.00681.pdf) 57 | #### 47. [Mapping] 2021-04-14-[A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior](https://arxiv.org/pdf/2104.00562.pdf) 58 | #### 48. [VO] 2021-04-14-[An Energy-Efficient Quad-Camera Visual System for Autonomous Machines on FPGA Platform](https://arxiv.org/pdf/2104.00192.pdf) 59 | #### 49. [VO] 2021-04-14-[FSD-SLAM: a fast semi-direct SLAM algorithm](https://link.springer.com/article/10.1007/s40747-021-00323-y) 60 | #### 50. [Reconstruction] 2021-04-14-[3D SURFACE RECONSTRUCTION FROM MULTI-DATE SATELLITE IMAGES](https://arxiv.org/pdf/2102.02502.pdf) 61 | #### 51. [VO] 2021-04-14-[Towards Real-time Semantic RGB-D SLAM in Dynamic Environments](https://arxiv.org/pdf/2104.01316.pdf) 62 | #### 52. [ORB] 2021-05-15-[Reconfigurable Multi-Access Pattern Vector Memory For Real-Time ORB Feature Extraction](https://ieeexplore.ieee.org/abstract/document/9401698) 63 | #### 53. [VIO] 2021-05-15-[An Equivariant Filter for Visual Inertial Odometry](https://arxiv.org/pdf/2104.03532.pdf) 64 | #### 54. [VO] 2021-05-15-[VOLDOR+SLAM: For the times when feature-based or direct methods are not good enough](https://arxiv.org/pdf/2104.06800.pdf) 65 | #### 55. [LVI] 2021-05-15-[LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping](https://arxiv.org/pdf/2104.10831.pdf) 66 | #### 56. [VO] 2021-05-15-[Extreme Rotation Estimation using Dense Correlation Volumes](https://arxiv.org/pdf/2104.13530.pdf) 67 | #### 57. [optimization] 2021-06-07-[A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM](https://lamor.fer.hr/images/50036607/2021-ajuric-comparison-mipro.pdf) 68 | #### 58. [calibration] 2021-06-07-[iCalib: Inertial Aided Multi-Sensor Calibration](http://yangyulin.net/papers/2021_vinsworkshop_iCalib.pdf) 69 | #### 59. [learned vo] 2021-06-07-[DeepAVO: Efficient Pose Refining with Feature Distilling for Deep Visual Odometry](https://arxiv.org/pdf/2105.09899.pdf) 70 | #### 60. [Reconstruction] 2021-06-07-[Multi-view 3D Reconstruction of a Texture-less Smooth Surface of Unknown Generic Reflectance](https://arxiv.org/pdf/2105.11599.pdf) 71 | #### 61. [Tools] 2021-08-13-[OdoViz: A 3D Odometry Visualization and Processing Tool](https://arxiv.org/pdf/2107.07557.pdf) 72 | #### 62. [Fusion] 2021-08-24-[Multi-Camera Sensor Fusion for Visual Odometry using Deep Uncertainty Estimation](http://personal.ee.surrey.ac.uk/R.Bowden/publications/2021/Kaygusuz_ITSC2021pp.pdf) 73 | #### 63. [Fusion] 2021-08-24-[Resilient Indoor Localization System Based on UWB and Visual–Inertial Sensors for Complex Environments](https://ieeexplore.ieee.org/abstract/document/9503372) 74 | #### 64. [Event camera] 2021-08-24-[TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset](https://arxiv.org/pdf/2108.07329.pdf) 75 | #### 65. [Monocular] 2021-08-24-[A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Driving](https://arxiv.org/pdf/2108.07736.pdf) 76 | #### 66. [Fusion] 2021-08-24-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://sites.google.com/site/drjizhao/PanL_2021_ICRA.pdf) 77 | #### 67. [BA] 2021-08-24-[SBAS: Salient Bundle Adjustment for Visual SLAM](https://ieeexplore.ieee.org/abstract/document/9514570) 78 | #### 68. [Lidar] 2021-08-24-[Piecewise Linear De-skewing for LiDAR Inertial Odometry](https://arxiv.org/pdf/2108.06078.pdf) 79 | #### 69. [Deep SLAM] 2021-08-25-[DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://arxiv.org/pdf/2108.10869.pdf) 80 | #### 70. [Deep SLAM] 2021-08-27-[MDN-VO: Estimating Visual Odometry with Confidence](http://personal.ee.surrey.ac.uk/Personal/R.Bowden/publications/2021/Kaygusuz_IROS2021pp.pdf) 81 | #### 71. [Object slam] 2021-08-30-[DSP-SLAM: Object Oriented SLAM with Deep Shape Priors](https://arxiv.org/pdf/2108.09481.pdf) 82 | #### 72. [VSLAM] 2021-08-30-[Semi-dense visual-inertial odometry and mapping for computationally constrained platforms](https://link.springer.com/article/10.1007/s10514-021-10002-z) 83 | #### 73. [BA] 2021-09-01-[On Bundle Adjustment for Multiview Point Cloud Registration](https://arxiv.org/pdf/2108.02976.pdf) 84 | #### 73. [Math] 2021-09-01-[Robust Rank Deficient SLAM](https://assets.amazon.science/3e/7e/cf8b582f40d5bef6ba075e86bea7/robust-rank-deficient-slam.pdf) 85 | #### 73. [COVINS] 2021-09-01-[COVINS: Visual-Inertial SLAM for Centralized Collaboration](https://arxiv.org/pdf/2108.05756.pdf) 86 | #### 74. [EKF VIO] 2021-09-10-[An Equivariant Filter for Visual Inertial Odometry](https://arxiv.org/pdf/2104.03532.pdf) 87 | #### 75. [Event Camera] 2021-09-10-[EventPoint: Self-Supervised Local Descriptor Learning for Event Cameras](https://arxiv.org/pdf/2109.00210.pdf) 88 | #### 76. [GNSS] 2021-09-10-[GNSS Outlier Mitigation Via Graduated NonConvexity Factor Graph Optimization](https://arxiv.org/pdf/2109.00667.pdf) 89 | #### 77. [VSLAM] 2021-09-10-[Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction](https://arxiv.org/pdf/2108.04281.pdf) 90 | #### 78. [VIO] 2021-09-10-[Sampson Distance: A New Approach to Improving VisualInertial Odometry’s Accuracy](http://www.people.vcu.edu/~cye/Sampson_IROS_2021.pdf) 91 | #### 79. [Application] 2021-09-10-[A Wearable Robotic Device for Assistive Navigation and Object Manipulation](http://www.people.vcu.edu/~cye/Wearble_Aid_IROS2021.pdf) 92 | #### 80. [Reconstruction] 2021-09-10-[Vis2Mesh: Efficient Mesh Reconstruction from Unstructured Point Clouds of Large Scenes with Learned Virtual View Visibility](https://github.com/GDAOSU/vis2mesh) 93 | #### 81. [IMU] 2021-09-13-[Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization](https://arxiv.org/pdf/2109.03010.pdf) 94 | #### 82. [UWB] 2021-09-13-[MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization](https://arxiv.org/abs/2109.00747) 95 | #### 83. [SLAM] 2021-09-13-[Predicting Performance of SLAM Algorithms](https://arxiv.org/pdf/2109.02329.pdf) 96 | #### 84. [DL based] 2021-09-13-[UnDeepLIO: Unsupervised Deep Lidar-Inertial Odometry](https://arxiv.org/pdf/2109.01533.pdf) 97 | #### 85. [Fusion] 2021-09-13-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://db6b4ecf-a-62cb3a1a-s-sites.googlegroups.com/site/drjizhao/PanL_2021_ICRA.pdf?attachauth=ANoY7co5u5zWmD-XRJl8KUlAXSZarHJynMOXImGGTAoHfLqhwA9xR2lpr6IripVIAt-hz1c1dPYW3TafQD9IUPSz2H3ar3woGUfvBFb7F-KyuCWYsedQVhs1G8_yWlvIXRjt1nHbM8ykss9OLLGzL5FiXuhWy8P8BnnVlenE--uVp4vKzsP5yPnlgY2oho8V2nrFVV5dmdtwvcUdXIvm5HKSsl3mB0Zx8w%3D%3D&attredirects=0) 98 | #### 86. [BA] 2021-09-13-[Square Root Marginalization for Sliding-Window Bundle Adjustment](https://arxiv.org/pdf/2109.02182.pdf) 99 | #### 87. [VIO] 2021-09-15-[Semi-dense visual-inertial odometry and mapping for computationally constrained platforms](https://link.springer.com/article/10.1007/s10514-021-10002-z) 100 | #### 87. [DeepLearning BA] 2021-09-15-[PoGO-Net: Pose Graph Optimization with Graph Neural Networks](https://www3.cs.stonybrook.edu/~hling/publication/PoGO-Net-21.pdf) 101 | #### 88. [DeepLearning MVS] 2021-09-15-[NeuralMVS: Bridging Multi-View Stereo and Novel View Synthesis](https://arxiv.org/pdf/2108.03880.pdf) 102 | #### 89. [IMU] 2021-09-15-[Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization](https://arxiv.org/pdf/2109.03010.pdf) 103 | #### 90. [Thesis] 2021-09-15-[Self Exploration and Mapping for Indoor Robotic Applications](https://repositories.lib.utexas.edu/handle/2152/87236) 104 | #### 91. [Fusion] 2021-09-15-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://db6b4ecf-a-62cb3a1a-s-sites.googlegroups.com/site/drjizhao/PanL_2021_ICRA.pdf?attachauth=ANoY7co5u5zWmD-XRJl8KUlAXSZarHJynMOXImGGTAoHfLqhwA9xR2lpr6IripVIAt-hz1c1dPYW3TafQD9IUPSz2H3ar3woGUfvBFb7F-KyuCWYsedQVhs1G8_yWlvIXRjt1nHbM8ykss9OLLGzL5FiXuhWy8P8BnnVlenE--uVp4vKzsP5yPnlgY2oho8V2nrFVV5dmdtwvcUdXIvm5HKSsl3mB0Zx8w%3D%3D&attredirects=0) 105 | #### 92. [BA] 2021-09-15-[Square Root Marginalization for Sliding-Window Bundle Adjustment](https://arxiv.org/pdf/2109.02182.pdf) 106 | #### 93. [semantic] 2021-09-23-[Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM](https://arxiv.org/pdf/2109.07748.pdf) 107 | #### 94. [mapping] 2021-09-23-[Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online 3D SLAM](https://arxiv.org/pdf/2109.07082.pdf) 108 | #### 95. [semantic] 2021-09-23-[S3LAM: Structured Scene SLAM](https://arxiv.org/pdf/2109.07339.pdf) 109 | #### 96. [fusion] 2021-09-23-[R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package](https://arxiv.org/pdf/2109.07982.pdf) 110 | #### 97. [Calibration] 2021-09-23-[Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras](https://arxiv.org/pdf/2109.06550.pdf) 111 | #### 98. [lidar] 2021-09-23-[Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors](https://arxiv.org/pdf/2109.07073.pdf) 112 | #### 99. [Math] 2021-10-21-[Active SLAM over Continuous Trajectory and Control:A Covariance-Feedback Approach](https://arxiv.org/pdf/2110.07546.pdf) 113 | #### 100. [radar] 2021-10-21-[Oriented surface points for efficient and accurate radar odometry](https://arxiv.org/pdf/2109.09994.pdf) 114 | #### 101. [Dataset] 2021-10-21-[DenseMatch: a dataset for real-time 3D reconstruction](https://www.sciencedirect.com/science/article/pii/S2352340921007575) 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | -------------------------------------------------------------------------------- /SLAM_Research_2018.md: -------------------------------------------------------------------------------- 1 | # Recent_SLAM_Research 2 | 【回馈社区】跟踪SLAM前沿动态 （2018），技术更新太快，开启paper暴走模式，精选paper包括纯视觉SLAM，三维重建，基础数学工具，导航路径规划，深度学习SLAM，激光与视觉融合等类别。 3 | 4 | ## SLAM 能力图 5 | 6 | 7 | 8 | ### 战斗吧 9 | 10 | ## Visual SLAM 11 | #### 132. 2018-12-31-[Adaptive Baseline Monocular Dense Mapping with Inter-frame Depth Propagation](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8593936/) 12 | #### 131. 2018-12-31-[Probabilistic Dense Reconstruction from a Moving Camera](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8593618/) 13 | #### 130. 2018-12-31-[Quadtree-Accelerated Real-Time Monocular Dense Mapping](https://ieeexplore.ieee.org/abstract/document/8594101) 14 | #### 129. 2018-12-31-[Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8593641/) 15 | #### 128. 2018-12-31-[A Novel Relative Camera Motion Estimation Algorithm with Applications to Visual Odometry](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8603292) 16 | #### 127. 2018-12-31-[RGBiD-SLAM for Accurate Real-time Localisation and 3D Mapping](https://arxiv.org/pdf/1807.08271.pdf) [code](https://github.com/dangut/RGBiD-SLAM) 17 | #### 126. 2018-12-30-[Fast Visual Odometry Based Sparse Geometric Constraint for RGB-D Camera](https://www.jstage.jst.go.jp/article/transinf/E102.D/1/E102.D_2018EDL8119/_pdf) 比ORB快两倍 18 | #### 125. 2018-12-30-[Development of Nano UAV Platform for Navigation in GPS-Denied Environment Using Snapdragon](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8592913) 19 | #### 124. 2018-12-29-[Visual-Inertial Fusion for Indoor Autonomous Navigation of a Quadrotor Using ORB-SLAM](https://sci-hub.tw/10.1109/lars/sbr/wre.2018.00028) EKF ORB+IMU 20 | #### 123. 2018-12-29-[Online Inertial-Aided Monocular Camera Self-Calibration](https://sci-hub.tw/doi/10.1109/lars/sbr/wre.2018.00027) 相机自标定 21 | #### 122. 2018-12-29-[Simultaneous Localization and Mapping of Mobile Robot Based on Image Enhancement](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8586745) 增强光照鲁棒性 22 | #### 121. 2018-12-28-[Patch-based Stereo Direct Visual Odometry Robust to Illumination Changes](https://sci-hub.tw/https://link.springer.com/article/10.1007/s12555-018-0199-2) 光照鲁棒性 23 | #### 120. 2018-12-28-[Observability Analysis and Performance Evaluation of EKF-based Visual-inertial Odometry with Online Intrinsic Camera Parameter Calibration](https://sci-hub.tw/10.1109/jsen.2018.2886764) 24 | #### 119. 2018-12-20-[Real-time 3D scene reconstruction and localization with surface optimization](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8556661) 25 | #### 118. 2018-12-20-[A fast initialization method of Visual-Inertial Odometry based on monocular camera ](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8559929/) 26 | #### 117. 2018-12-20-[A Weighing Euler Pre-integration Method in the Visual-Inertial Odometry](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8559725) 27 | #### 116. 2018-12-20-[DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments](https://arxiv.org/pdf/1809.08379v1.pdf) 28 | #### 115. 2018-12-18-[Image-based Navigation using Visual Features and Map](https://arxiv.org/pdf/1812.03795.pdf)ETH formulate the map construction and self-localizationproblems as convex quadratic and second-order cone programs,respectively 29 | #### 114. 2018-12-18-[From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://arxiv.org/pdf/1812.03506.pdf) HF-Net, a hierarchical localization approach based on a monolithic CNN that simultaneously predicts local features and global descriptors foraccurate 6-DoF localization 30 | #### 113. 2018-12-18-[A Complete System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments](https://arxiv.org/pdf/1812.03892.pdf) ETH Siegwart 完整的视觉定位导航方案 31 | #### 112. 2018-12-16-[Extrinsic 6DoF Calibration of a Radar – LiDAR – Camera System Enhanced by Radar Cross Section Estimates Evaluation](https://sci-hub.tw/https://www.sciencedirect.com/science/article/pii/S0921889018301994) 相机激光毫米波雷达外参估计 32 | #### 111. 2018-12-16-[Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach](https://www.ncbi.nlm.nih.gov/pubmed/30513949) 33 | #### 110. 2018-12-16-[Robust Visual-Inertial State Estimation with Multiple Odometries and Efficient Mapping on an MAV with Ultra-Wide FOV Stereo Vision](https://elib.dlr.de/122805/1/IROS2018_multi_VO_elib.pdf) 鱼眼相机产生的四对虚拟双目VIO 34 | #### 109. 2018-12-11-[Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments](http://sci-hub.tw/10.1002/rob.21842) 35 | #### 108. 2018-12-11-[CubemapSLAM: A Piecewise-Pinhole Monocular Fisheye SLAM System](https://arxiv.org/pdf/1811.12633.pdf) 鱼眼镜头slam 36 | #### 107. 2018-12-11-[HOOFR SLAM System: An Embedded Vision SLAM Algorithm and Its Hardware-Software Mapping-Based Intelligent Vehicles Applications](http://sci-hub.tw/10.1109/tits.2018.2881556) 37 | #### 106. 2018-12-10-[PoseFusion: Dense RGB-D SLAM in Dynamic Human Environments](https://hal.archives-ouvertes.fr/hal-01893144/document) 解决动态人体 38 | #### 105. 2018-12-07-[Depth from Motion for Smartphone AR](http://delivery.acm.org/10.1145/3280000/3275041/a193-valentin.pdf?ip=203.166.220.2&id=3275041&acc=OPEN&key=4D4702B0C3E38B35%2E4D4702B0C3E38B35%2E4D4702B0C3E38B35%2E6D218144511F3437&__acm__=1544188110_8a4090e366f371eb54025ed793523da9) google 单目深度估计，效果很好 39 | #### 104. 2018-12-06-[Stereo Visual-Inertial SLAM With Points and Lines](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8533332) 双目ＩＭＵ加点线 40 | #### 103. 2018-12-05-[SLAM method: reconstruction and modeling of environment with moving objects using an RGBD camera](http://ceur-ws.org/Vol-2254/10000274.pdf)去除动态物体 41 | #### 102. 2018-11-26-[VINS-MKF: A Tightly-Coupled Multi-Keyframe Visual-Inertial Odometry for Accurate and Robust State Estimation](https://www.mdpi.com/1424-8220/18/11/4036)多目VINS 42 | #### 101. 2018-11-26-[Fast and accurate visual odometry from a monocular camera](http://sci-hub.tw/10.1007/s11704-018-6600-8) 43 | #### 100. 2018-11-22-[Semi-independent Stereo Visual Odometry for Different Field of View Cameras](https://hal-upec-upem.archives-ouvertes.fr/hal-01912878/document) 44 | #### 99. 2018-11-22-[Spherical-Model-Based SLAM on Full-View Images for Indoor Environments](https://www.mdpi.com/2076-3417/8/11/2268) 大广角视觉SLAM 45 | #### 98. 2018-11-18-[DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes](https://arxiv.org/pdf/1806.05620.pdf)FCN 辅助动态场景SLAM，[代码](https://github.com/BertaBescos/DynaSLAM) 46 | #### 97. 2018-11-18-[EMoVI-SLAM: Embedded Monocular Visual Inertial SLAM with Scale Update for Large Scale Mapping and Localization](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8525794) UKF 做融合，效果比VINS好 47 | #### 96. 2018-11-16-[Optimization-based Legged Odometry and Sensor Fusion for Legged Robot Continuous Localization](sci-hub.tw/10.1016/j.robot.2018.10.013) 足腿式机器人slam 48 | #### 95. 2018-11-16-[RGB-D SLAM in Dynamic Environments Using Points Correlations](https://arxiv.org/pdf/1811.03217.pdf) 解决动态物体影响 49 | #### 94. 2018-11-13-[Semi-Semantic Line-Cluster Assisted Monocular SLAM for Indoor Environments](https://arxiv.org/pdf/1811.01592.pdf) 50 | #### 93. 2018-11-12-[Evaluation of Lightweight Local Descriptors for Level Ground Navigation with Monocular SLAM](http://sci-hub.tw/10.1007/978-3-030-03341-5_29)对比不同描述子对slam影响 51 | #### 92. 2018-11-12-[Incremental Feature Forest for Real-Time SLAM on Mobile Devices](http://sci-hub.tw/10.1007/978-3-030-03398-9_37) 52 | #### 91. 2018-11-12-[Structure-aware SLAM with planes and lines in man-made environmen](https://sci-hub.tw/https://www.sciencedirect.com/science/article/pii/S0167865518308663) 53 | #### 90. 2018-11-12-[A review on graph optimization and algorithmic frameworks](https://hal.archives-ouvertes.fr/hal-01901499/file/LATEX1.PDF) 54 | #### 89. 2018-11-06-[Non-iterative RGB-D-inertial odometry](https://arxiv.org/pdf/1710.05502.pdf)轻量型融合 55 | #### 88. 2018-11-06-[Dense RGB-D-Inertial SLAM with Map Deformations](https://www.doc.ic.ac.uk/~sleutene/publications/IROS2017_Laidlow.pdf) RGBD 与IMU融合 56 | #### 87. 2018-11-06-[Autonomous flight with robust visual odometry under dynamic lighting conditions](http://sci-hub.tw/10.1007/s10514-018-9816-4)很少见到韩国人做的SLAM，好像基本不开源，这个光照鲁棒性方法就无从验证了。 57 | #### 86. 2018-11-06-[RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation](http://sci-hub.tw/10.1002/rob.21831) RTAB-MAP有更新，增加laser odom。 58 | #### 85. 2018-10-29-[Mobile Robot Localisation and Navigation Using LEGO NXT and Ultrasonic Sensor](https://arxiv.org/pdf/1810.08816.pdf) 仅仅是好玩 59 | #### 84. 2018-10-29-[RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry](https://arxiv.org/pdf/1810.08704.pdf) 卡尔曼不死 60 | #### 83. 2018-10-29-[Dynamic objects elimination in SLAM based on image fusion](http://sci-hub.tw/https://linkinghub.elsevier.com/retrieve/pii/S0167865518308523) 去除动态物体 61 | #### 82. 2018-10-24-[Distributed stereo vision‐based 6D localization and mapping for multi‐robot teams](https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21812) 62 | #### 81. 2018-10-20-[Multi-scale Direct Sparse Visual Odometry for Large-Scale Natural Environment](https://ieeexplore.ieee.org/abstract/document/8490959) 把不同远近的pixel分开来用 63 | #### 80. 2018-10-20-[Combining 2D to 2D and 3D to 2D Point Correspondences for Stereo Visual Odometry](http://www.scitepress.org/Papers/2018/66236/66236.pdf) 64 | #### 79. 2018-10-20-[StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments](https://arxiv.org/pdf/1810.06796.pdf) 加line特征 65 | #### 78. 2018-10-17-[RGB-D Inertial Odometry for Indoor Robot via Keyframe-based Nonlinear Optimization](https://ieeexplore.ieee.org/abstract/document/8484687) 66 | #### 77. 2018-10-17-[A Combined RGB and Depth Descriptor for SLAM with Humanoids](https://www.hrl.uni-bonn.de/papers/sheikh18iros.pdf) 结合RGB与深度的描述子，[代码还未公布](https://github.com/ferasha/DLab) 67 | #### 76. 2018-10-15-[Analysis of the Impact of Field of View on WideAngle Cameras in SLAM](http://www.diva-portal.org/smash/get/diva2:1253260/FULLTEXT01.pdf) 一篇分析视场角对SLAM影响的硕士论文 68 | #### 75. 2018-10-15-[Direct Depth SLAM: Sparse Geometric Feature Enhanced Direct Depth SLAM System for Low-Texture Environments](https://www.mdpi.com/1424-8220/18/10/3339/htm) 只用深度图的SLAM 69 | #### 74. 2018-10-11-[SE(2)-Constrained Visual Inertial Fusion for Ground Vehicles](http://sci-hub.tw/10.1109/jsen.2018.2873055) 贡献：This paper proposed a new visual inertial fusion framework for ground vehicles, based on an SE(2)-constrained pose parameterization. 70 | #### 73. 2018-10-11-[A Structureless Approach for Visual Odometry](https://ywseo.github.io/files/structureless-approach-vo-iv-18.pdf) 三点改进： 1) the complexity of our solution is lower than those of the state-of-the-art methods, 2) no extra matrix operations required to eliminate map points, 3) no need guesses on map points’ initial locations. 71 | #### 72. 2018-10-09-[Illumination Robust Monocular Direct Visual Odometry for Outdoor Environment Mapping](https://hal.archives-ouvertes.fr/hal-01876700/document) 增强室外光照鲁棒性 72 | #### 71. 2018-10-08-[Review of Wheeled Mobile Robots’ Navigation Problems and Application Prospects in Agriculture](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8456505) 路径规划review 73 | #### 70. 2018-09-28-[Visual Multimodal Odometry: Robust Visual Odometry in Harsh Environments](https://ieeexplore.ieee.org/abstract/document/8468653) 74 | #### 69. 2018-09-28-[Real-time Graph-Based 3D Reconstruction of Sparse Feature Environments for Mobile Robot Applications](https://ieeexplore.ieee.org/abstract/document/8468658) 75 | #### 68. 2018-09-26-[Linear SLAM: Linearising the SLAM Problems using Submap Joining ](https://arxiv.org/pdf/1809.06967.pdf) 创建大地图，有代码在openslam上，但是没找到 76 | #### 67. 2018-09-26-[Gaze Selection for Enhanced Visual Odometry During Navigation](http://www.cim.mcgill.ca/~mrl/pubs/travism/travis_manderson_crv2018.pdf) 控制机器人“眼球”看向特征点多的地方 77 | #### 66. 2018-09-26-[GPU-accelerated feature tracking for 3D reconstruction](http://sci-hub.tw/http://www.sciencedirect.com/science/article/pii/S003039921831096X) GPU 加速 78 | #### 65. 2018-09-25-[Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones](https://arxiv.org/pdf/1809.05780.pdf) 能耗更小的VIO系统 79 | #### 64. 2018-09-25-[Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System](https://arxiv.org/pdf/1809.05477.pdf) 80 | #### 63. 2018-09-17-[Efficient 2D-3D Matching for Multi-Camera Visual Localization](https://arxiv.org/pdf/1809.06445.pdf) 已有地图时，做定位. 81 | #### 62. 2018-09-17-[DSVO: Direct Stereo Visual Odometry](https://irvlab.dl.umn.edu/sites/g/files/pua3056/f/dsvo_paper.pdf)没有双目的matching，另一个摄像头的作用是优化尺度,[代码在此](https://github.com/jiawei-mo/dsvo). 82 | #### 61. [CVPR 2018] [Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction](https://arxiv.org/pdf/1803.03893.pdf) Ian Reid出品，[代码在此](https://github.com/Huangying-Zhan/Depth-VO-Feat)。 83 | #### 60. [CVPR 2018] [InLoc: Indoor Visual Localization with Dense Matching and View Synthesis](https://arxiv.org/pdf/1803.10368v2.pdf) 已知3Dmap做定位 84 | #### 59. [CVPR 2018] [Polarimetric Dense Monocular SLAM](https://www.cs.sfu.ca/~pingtan/Papers/cvpr18_pdms.pdf) 偏振光传感器SLAM，[传感器原理](http://thinklucid.cn/tech-briefs/polarization-explained-sony-polarized-sensor/) 85 | #### 58. [CVPR 2018] [Semantic Visual Localization](https://arxiv.org/pdf/1712.05773.pdf) 86 | #### 57. [CVPR 2018] [CodeSLAM — Learning a Compact, Optimisable Representation for Dense Visual SLAM](https://arxiv.org/pdf/1804.00874v1.pdf) 87 | #### 56. [CVPR 2018] [Fast Monte-Carlo Localization on Aerial Vehicles usingApproximate Continuous Belief Representations](https://arxiv.org/pdf/1712.05507v3.pdf) 粒子滤波viusal+IMU 88 | #### 55. [CVPR 2018] [ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM](http://openaccess.thecvf.com/content_cvpr_2018/papers/Liu_ICE-BA_Incremental_Consistent_CVPR_2018_paper.pdf)新的优化库 89 | #### 54. [CVPR 2018] [Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions](https://arxiv.org/pdf/1707.09092v3.pdf) 针对于场景变化较大时，例如四季变换的SLAM数据集 90 | #### 53. [ICRA 2018] [Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM](https://ieeexplore.ieee.org/document/8460206/) 单目IMU自动标定，老铁知道比VINS好在哪里么 91 | #### 52. [ICRA 2018] [Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints](https://ieeexplore.ieee.org/document/8463163/) 92 | #### 51. [ICRA 2018] [Assigning Visual Words to Places for Loop Closure Detection](https://sci-hub.tw/https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8461146) 使用GNG clustering algorithm 93 | #### 50. [ICRA 2018] [Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial](https://ieeexplore.ieee.org/document/8462878/) 沈老师连续两篇路径规划 94 | #### 49. [ICRA 2018] [Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization](https://sci-hub.tw/https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8463188) 95 | #### 48. [ICRA 2018] [Feature-constrained Active Visual SLAM for Mobile Robot Navigation](https://sci-hub.tw/https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8460721)路径规划时候考虑特征点数量,[代码在此](https://github.com/XinkeAE/Active-ORB-SLAM2) 96 | #### 47. [ICRA 2018] [A Monocular SLAM System Leveraging Structural Regularity in Manhattan World](https://sci-hub.tw/https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8463165)国内慢慢也有实验室开源了[原理与code](http://cvrs.whu.edu.cn/projects/Struct-PL-SLAM/) 97 | #### 46. [ICRA 2018] [Monocular Visual Odometry Scale Recovery using Geometrical Constraint](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8462902) 98 | #### 45. [ICRA 2018] [Detection and Resolution of Motion Conflict in Visual Inertial Odometry](https://sci-hub.tw/https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8460870) 解决视觉与IMU估计值之间冲突问题 99 | #### ----------ECCV 2018【都无代码，可惜】---------- 100 | #### 44. 2018-09-14-[Realtime Time Synchronized Event-based Stereo](http://openaccess.thecvf.com/content_ECCV_2018/papers/Alex_Zhu_Realtime_Time_Synchronized_ECCV_2018_paper.pdf) 双目事件相机，第一家吧 101 | #### 43. 2018-09-14-[Stereo relative pose from line and point feature triplets](http://openaccess.thecvf.com/content_ECCV_2018/papers/Alexander_Vakhitov_Stereo_relative_pose_ECCV_2018_paper.pdf) 点线结合，但是匹配的是三帧图像 102 | #### 42. 2018-09-14-[Fast and Accurate Camera Covariance Computation for Large 3D Reconstruction](http://openaccess.thecvf.com/content_ECCV_2018/papers/Michal_Polic_Fast_and_Precise_ECCV_2018_paper.pdf) 以数学为切入点，难懂 103 | #### 41. 2018-09-14-[Structure-from-Motion-Aware PatchMatch for Adaptive Optical Flow Estimation](http://openaccess.thecvf.com/content_ECCV_2018/papers/Daniel_Maurer_Structure-from-Motion-Aware_PatchMatch_for_ECCV_2018_paper.pdf) 三维重建方向 104 | #### 40. 2018-09-14-[Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving](http://openaccess.thecvf.com/content_ECCV_2018/papers/Peiliang_LI_Stereo_Vision-based_Semantic_ECCV_2018_paper.pdf) 沈老师出品，既估计相机位姿，也估计物体位置，对动态物体鲁棒 105 | #### 39. 2018-09-14-[Scale-Awareness of Light Field Camera based Visual Odometry](http://openaccess.thecvf.com/content_ECCV_2018/papers/Niclas_Zeller_Scale-Awareness_of_Light_ECCV_2018_paper.pdf) 传感器特殊，使用[光场相机](https://www.zhihu.com/question/20511442/answer/24066624) 106 | #### 38. 2018-09-14-[Semantically Aware Urban 3D Reconstruction with Plane-Based Regularization](http://openaccess.thecvf.com/content_ECCV_2018/papers/Thomas_Holzmann_Semantically_Aware_Urban_ECCV_2018_paper.pdf) 最近都很喜欢加平面信息做SLAM 107 | #### 37. 2018-09-14-[VSO: Visual Semantic Odometry](http://openaccess.thecvf.com/content_ECCV_2018/papers/Konstantinos-Nektarios_Lianos_VSO_Visual_Semantic_ECCV_2018_paper.pdf) 题目越短，文章越牛逼？ 108 | #### 36. 2018-09-14-[Direct Sparse Odometry with Rolling Shutter](http://openaccess.thecvf.com/content_ECCV_2018/papers/David_Schubert_Direct_Sparse_Odometry_ECCV_2018_paper.pdf) 同样是Cremers出品，看题目就知道了 109 | #### 35. 2018-09-14-[Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-Inertial Odometry](http://openaccess.thecvf.com/content_ECCV_2018/papers/Yonggen_Ling_Modeling_Varying_Camera-IMU_ECCV_2018_paper.pdf) 科大沈老师门生根叔出品，解决了卷帘快门问题，加速IMU预积分，以及使初始化更鲁棒，AR界梦寐以求的算法，可惜没代码 110 | #### 34. 2018-09-14-[Deep Virtual Stereo Odometry:Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry](http://openaccess.thecvf.com/content_ECCV_2018/papers/Nan_Yang_Deep_Virtual_Stereo_ECCV_2018_paper.pdf) Cremers出品，用单目深度估计+DSO 111 | #### 33. 2018-09-14-[Good Line Cutting: towards Accurate Pose Tracking of Line-assisted VO/VSLAM](http://openaccess.thecvf.com/content_ECCV_2018/papers/Yipu_Zhao_Good_Line_Cutting_ECCV_2018_paper.pdf) 对于线特征提取线内信息最多的一段做SLAM，声称对低纹理，运动模糊鲁棒 112 | #### 32. 2018-09-14-[Linear RGB-D SLAM for Planar Environments](http://openaccess.thecvf.com/content_ECCV_2018/papers/Pyojin_Kim_Linear_RGB-D_SLAM_ECCV_2018_paper.pdf) 卡尔曼滤波估计位姿与平面特征 113 | #### ----------ECCV 2018 ---------- 114 | #### 31. 2018-09-10-Monocular Object and Plane SLAM in Structured Environments. 约束中加入识别的物体与平面 115 | #### 30. DOVO: Mixed Visual Odometry Based on Direct Method and Orb Feature: 通过特征点个数判断用直接法与光流法。交替使用 116 | 117 | #### 29. UFSM_VO: STEREO ODOMETRY BASED ON UNIFORMLY FEATURE SELECTION AND STRICTLY CORRESPONDENCE MATCHING： 创新度一般 118 | 119 | #### 28. A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives： VINSLAM 综述 120 | 121 | #### 27. A Loop Closure Detection Algorithm in Dynamic Scene： 动态环境下回环检测 122 | 123 | #### 26. Directional grid maps: modeling multimodal angular uncertainty in dynamic environments 124 | 125 | #### 25. Grid Map Guided Indoor 3D Reconstruction for Mobile Robots with RGB-D Sensors 126 | 127 | #### 24. Robustness Improvement of Long Range Landmark Tracking for Mobile Robots 128 | 129 | #### 23. Lightweight Visual Odometry for Autonomous Mobile Robots 130 | 131 | #### 22. Enhanced Visual Loop Closing for Laser-Based SLAM 132 | 133 | #### 21. A Fast Stereo Visual-Inertial Odometry for MAVs 134 | 135 | #### 20. Low-Cost Multiple-MAV SLAM Using Open Source Software 136 | 137 | #### 19. PCR-Pro: 3D Sparse and Different Scale Point Clouds Registration and Robust Estimation of Information Matrix For Pose Graph SLAM https://sites.google.com/view/pcr-pro 138 | 139 | #### 18. Comparison of two different objective functions in 2D point feature SLAM 140 | 141 | #### 17. Pose Estimation with Dual Quaternions and Iterative Closest Point 142 | 143 | #### 16. SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM https://github.com/pamela-project/slambench2 144 | 145 | #### 15. Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion 146 | 147 | #### 14. Data-Efficient Decentralized Visual SLAM https://github.com/uzh-rpg/dslam_open 148 | 149 | #### 13. Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization 150 | 151 | #### 12. A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration : https://gitlab.com/srrg-software/srrg_mpr 152 | 153 | #### 11. [ProSLAM: Graph SLAM from a Programmer's Perspective](https://arxiv.org/pdf/1709.04377.pdf): 改变数据结构，计算资源更少https://gitlab.com/srrg-software/srrg_proslam/tree/master 154 | 155 | #### 10. DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System 156 | 157 | #### 9. A Robust and Accurate Simultaneous Localization and Mapping System for RGB-D Cameras 158 | 159 | #### 8. Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM （对于光照变化很鲁棒） 160 | 161 | #### 7. Direct Sparse Odometry with Rolling Shutter 162 | 163 | #### 6. Online Temporal Calibration for Monocular Visual-Inertial Systems 164 | 165 | #### 5. PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features 166 | 167 | #### 4. Gaoxiang: LDSO: Direct Sparse Odometry with Loop Closure 带有回环检测的DSO 168 | 169 | #### 3. MULTICOL-SLAM - A MODULAR REAL-TIME MULTI-CAMERA SLAM SYSTEM 170 | 171 | #### 2. Loosely-Coupled Semi-Direct Monocular SLAM 172 | 173 | #### 1. Absolute Orientation and Localization Estimation from an Omnidirectional Image 174 | 175 | ## 路径规划导航 176 | #### 12. 2018-12-30-[Robust Path Planning Against Pose Errors for Mobile Robots in Rough Terrain](https://books.google.com.hk/books?hl=zh-CN&lr=&id=CfCBDwAAQBAJ&oi=fnd&pg=PA27&ots=bYW86VmdDw&sig=DhuUT06SJF39dQHrhxsSnoNLZe4&redir_esc=y#v=onepage&q&f=false) 机器人位姿有误差时候规划路径 177 | #### 11. 2018-12-30-[A Navigation Framework for Mobile Robots with 3D LiDAR and Monocular Camera](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8591329/) 178 | #### 10. 2018-12-30-[Flight Path Planning of Multiple UAVs for Robust Localization near Infrastructure Facilities*](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8592710) 多机路径规划 179 | #### 9. 2018-12-28-[A Minimum-energy Trajectory Tracking Controller for Four-wheeled Omni-directional Mobile Robot](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8581387) 180 | #### 8. 2018-12-28-[An improved Frontier-Based Approach for Autonomous Exploration](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8581245)自探索 181 | #### 7. 2018-12-28-[Autonomous Indoor Exploration Via Polygon Map Construction and Graph-Based SLAM Using Directional Endpoint Features](https://sci-hub.tw/10.1109/tase.2018.2883587) 182 | #### 6. 2018-12-03-[Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients](https://arxiv.org/pdf/1811.10753.pdf) 183 | #### 5. 2018-11-13-[Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles](https://arxiv.org/abs/1710.00604) 184 | #### 4. 2018-11-13-[Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning](https://arxiv.org/abs/1803.04345) 185 | #### 3. 2018-11-12-[Autonomous navigation using visual sparse map](https://project.inria.fr/ppniv18/files/2018/10/paper17.pdf) 186 | #### 2. 2018-10-24-[Global UGV Path Planning on Point Cloud Maps Created by UAV ](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8492584) 187 | #### 1. 2018-10-08-[Path Planning for Mobile Agents Using a Genetic Algorithm with a Direction Guided Factor](https://www.mdpi.com/2079-9292/7/10/212/htm) 188 | 189 | ## 基础工具 Basic tools 190 | #### 31. 2018-12-31-[Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras](https://arxiv.org/pdf/1701.05748.pdf) [code](https://github.com/iaslab-unipd/rgbd_calibration) 191 | #### 30. 2018-12-31-[Accurate Intrinsic and Extrinsic Calibration of RGB-D Cameras with GP-based Depth Correction](https://sci-hub.tw/10.1109/jsen.2018.2889805) RGBD 标定 192 | #### 29. 2018-12-30-[Calibration of Heterogeneous Sensor Systems](https://arxiv.org/pdf/1812.11445.pdf) 各种传感器之间标定 193 | #### 28. 2018-12-29-[Viewpoint-tolerant Place Recognition combining 2D and 3D information for UAV navigation](https://www.research-collection.ethz.ch/handle/20.500.11850/308619) 回环检测 194 | #### 27. 2018-12-27-[Impact of light on augmented reality](https://liu.diva-portal.org/smash/get/diva2:1272321/FULLTEXT01.pdf) 光照对AR影响 195 | #### 26. 2018-12-20-[An Extrinsic Calibration Method for Binocular Cameras and Swing 2D Laser Rangefinder](file:///home/eason/Downloads/An%20Extrinsic%20Calibration%20Method%20for%20Binocular%20Cameras%20and%20Swing%202D%20Laser%20Rangefinder.pdf) 相机与旋转2D激光标定 196 | #### 25. 2018-12-10-[An Iterative Nonlinear Filter Using Variational Bayesian Optimization](https://www.mdpi.com/1424-8220/18/12/4222) 197 | #### 24. 2018-12-07-[Two-pass K Nearest Neighbor Search for Feature Tracking](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8528423) 增强的ＫＮＮ特征匹配方法 198 | #### 23. 2018-11-22-[RLDB: Robust Local Difference Binary Descriptor with Integrated Learning-based Optimization](http://itiis.org/digital-library/manuscript/2126) 199 | #### 22. 2018-11-22-[A FAST-BRISK Feature Detector with Depth Information](http://sci-hub.tw/https://www.mdpi.com/1424-8220/18/11/3908) 融合深度的特征点提取方法 200 | #### 21. 2018-11-12-[Second-Order Semi-Global Stereo Matching Algorithm Based on Slanted Plane Iterative Optimization](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8497046) 201 | #### 20. 2018-11-12-[Try to Start It! The Challenge of Reusing Code in Robotics Research](http://sci-hub.tw/10.1109/lra.2018.2878604) 202 | #### 19. 2018-10-20-[Accurate Sparse Feature Regression Forest Learning for Real-Time Camera Relocalization](https://ieeexplore.ieee.org/abstract/document/8491017) 机器学习与特征点的混合方法做重定位 203 | #### 18. 2018-10-20-[Four- and Seven-Point Relative Camera Pose from Oriented Features](https://ieeexplore.ieee.org/abstract/document/8490972) 利用特征点方向信息计算相对位姿 204 | #### 17. 2018-10-08-[An improved SIFT algorithm based on adaptive fractional differential](http://sci-hub.tw/10.1007/s12652-018-1055-1) 205 | #### 16. 2018-10-08-[A Tutorial on Quantitative Trajectory Evaluationfor Visual(-Inertial) Odometry](http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf) SLAM 误差专门评测方法，终于有大佬说清楚了。[代码在此](https://github.com/uzh-rpg/rpg_trajectory_evaluation) 206 | #### 15. 2018-10-08-[A Review of Solutions for Perspective-n-Point Problem in Camera Pose Estimation](http://iopscience.iop.org/article/10.1088/1742-6596/1087/5/052009/pdf) PnP 方法对比 207 | #### 14. 2018-09-25-[A Versatile Method for Depth Data Error Estimation in RGB-D Sensors](http://scholar.google.com.hk/scholar_url?url=http://www.mdpi.com/1424-8220/18/9/3122/pdf&hl=zh-CN&sa=X&d=12129107753992395518&scisig=AAGBfm0q9zuCD6ER7bvEAxqrxPkqLMWukw&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:9829349442900101321:AAGBfm3Ah2enR6Y-2I_2pUfaBiohQzvJcw) 判断RGBD深度信息准确性的方法 208 | #### 13. 2018-09-25-[Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver.](http://openaccess.thecvf.com/content_ECCV_2018/papers/Mikael_Persson_Lambda_Twist_An_ECCV_2018_paper.pdf) 更快更准的P3P方法，[代码](https://github.com/midjji/lambdatwist-p3p) 209 | #### 12. 2018-09-18-[Adding Cues to Binary Feature Descriptors for Visual Place Recognition](https://arxiv.org/pdf/1809.06690.pdf) 210 | 211 | #### 11. An Improved RANSAC Algorithm for Simultaneous Localization and Mapping 212 | 213 | #### 10. Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm 214 | 215 | #### 9.RES-Q: Robust Outlier Detection Algorithm for Fundamental Matrix Estimation 216 | 217 | #### 8.Fast and robust local feature extraction for 3D reconstruction 218 | 219 | #### 7.Matrix Difference in Pose-Graph Optimization https://gitlab.com/srrg-software/srrg_g2o_chordal_plugin 220 | 221 | #### 6. Nonlinear Distortion Calibration of an Optical Flow Sensor for Monocular Visual Odometry 222 | 223 | #### 5. Five-point algorithm: an efficient cloud-based FPGA implementation 224 | 225 | #### 4. SC-RANSAC: Spatial consistency on RANSAC 226 | 227 | #### 3.Towards A Deep Insight into Landmark-based Visual Place Recognition: Methodology and Practice 228 | 229 | #### 2. In Defense of Relative Multi-View Geometry 230 | 231 | #### 1. MatchBench: An Evaluation of Feature Matchers 232 | 233 | ## 视觉激光融合 Fusion of visual and laser 234 | 235 | #### 3. Laser-visual-inertial odometry and mapping with high robustness and low drift1 236 | 237 | #### 2. ROBUST LOOP CLOSURES FOR SCENE RECONSTRUCTION BY COMBINING ODOMETRY AND VISUAL CORRESPONDENCES （RGBD+odometry 做回环检测）https://www.youtube.com/watch?v=peXrP374MVI https://github.com/zlaskar/Robust-Loop-Closures 238 | 239 | #### 1.Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter 240 | 241 | ## 三维重建 3D reconstruction 242 | #### 17. 2018-12-30-[Low-Cost and Efficient Indoor 3D Reconstruction through Annotated Hierarchical Structure-from-Motion](https://www.mdpi.com/2072-4292/11/1/58) 243 | #### 16. 2018-12-29-[Plant 3D reconstruction based on LiDAR and multi-view sequence images ](http://ijpaa.org/index.php/ijpaa/article/view/7/8)视觉激光融合三维重建 244 | #### 15. 2018-12-28-[Three Dimensional Reconstruction of Botanical Trees with Simulatable Geometry](https://arxiv.org/pdf/1812.08849.pdf) 245 | #### 14. 2018-12-18-[PlaneRCNN: 3D Plane Detection and Reconstruction from a Single Image](https://arxiv.org/pdf/1812.04072.pdf) 246 | #### 13. 2018-12-18-[SeFM: A Sequential Feature Point Matching Algorithm for Object 3D Reconstruction](https://arxiv.org/pdf/1812.02925.pdf) 247 | #### 12. 2018-12-18-[REAL-TIME INDOOR SCENE RECONSTRUCTION WITH RGBD AND INERTIA INPUT](https://arxiv.org/pdf/1812.03015.pdf) 248 | #### 11. 2018-12-16-[Mobile-based 3D Reconstruction of Building Environment ](https://repozitorium.omikk.bme.hu/bitstream/handle/10890/5798/CCC2018-136.pdf?sequence=1) 249 | #### 10. 2018-12-11-[Fast and Accurate Reconstruction of Pan-Tilt RGB-D Scans via Axis Bound Registration](https://arxiv.org/pdf/1812.00240.pdf) 250 | #### 9.2018-11-28-[Accurate, dense and shading-aware multi-view stereo reconstruction using metaheuritic optimization](http://sci-hub.tw/10.1007/s11042-018-6904-6) 251 | #### 8.2018-10-19-[BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration](https://arxiv.org/pdf/1604.01093.pdf)[深度学习+三维重建，有代码](https://github.com/niessner/BundleFusion) 252 | #### 7.2018-09-17-[Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera](http://ais.informatik.uni-freiburg.de/publications/papers/krawez18iros.pdf) 去除光源条件对重建的影响. 253 | #### 6.2018-09-15-[Real-time High-accuracy Three-Dimensional Reconstruction with Consumer RGB-D Cameras](http://sci-hub.tw/10.1145/3182157)加入了uncertaintyaware,and local-to-global RGB-D bundle adjustment strategy 254 | #### 5.Object Pose Estimation from Monocular Image using Multi-View Keypoint Correspondence 255 | 256 | #### 4.Depth Super-Resolution Meets Uncalibrated Photometric Stereo (低分辨率depth+不同光照下，同一视角高分辨率RBG => 高分辨率深度图) 257 | 258 | #### 3. Robust 3D Surface Reconstruction in Real-Time with Localization Sensor 259 | 260 | #### 2. EchoFusion: Tracking and Reconstruction of Objects in 4D Freehand Ultrasound Imaging without External Trackers 261 | 262 | #### 1. PSDF Fusion: Probabilistic Signed Distance Function for On-the-fly 3D Data Fusion and Scene Reconstruction 263 | 264 | ## 深度学习（DL）+SLAM 265 | #### 46. 2018-12-31-[Semantic Monocular SLAM for Highly Dynamic Environments](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8593828/) 266 | #### 45. 2018-12-30-[Epipolar Geometry based Learning of Multi-view Depth and Ego-Motion from Monocular Sequences](https://arxiv.org/pdf/1812.11922.pdf) 267 | #### 44. 2018-12-29-[Learning to Prevent Monocular SLAM Failure using Reinforcement Learning](https://arxiv.org/pdf/1812.09647.pdf) 268 | #### 43. 2018-12-29-[Autonomous Mobile Robot Visual SLAM Based on Improved CNN Method](https://sci-hub.tw/10.1088/1757-899x/466/1/012114) 269 | #### 42. 2018-12-29-[A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation](https://arxiv.org/pdf/1812.10016.pdf) 270 | #### 41. 2018-12-28-[Learning to Fuse Multiscale Features for Visual Place Recognition](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8585013) 回环检测 271 | #### 40. 2018-12-28-[Simultaneous Localization and Mapping in the Epoch of Semantics: A Survey](https://sci-hub.tw/10.1007/s12555-018-0130-x) 语义SLAM综述 272 | #### 39. 2018-12-28-[3D-SIS: 3D Semantic Instance Segmentation of RGB-D Scans](https://arxiv.org/pdf/1812.07003.pdf)RGBD 分割 273 | #### 38. 2018-12-28-[Deep Global-Relative Networks for End-to-End 6-DoF Visual ocalization and Odometry](https://arxiv.org/pdf/1812.07869.pdf)端到端VO 274 | #### 37. 2018-12-28-[MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM](https://arxiv.org/pdf/1812.07976.pdf)分割出动态物体 ，Andrew Davison 275 | #### 36. 2018-12-28-[SfMLearner++: Learning Monocular Depth & Ego-Motion using Meaningful Geometric Constraints](https://arxiv.org/pdf/1812.08370.pdf) sfmLearner加强版，加入了对极约束，减少参数和模型大小 276 | #### 35. 2018-12-18-[Unsupervised Learning of Monocular Depth Estimation with Bundle Adjustment, Super-Resolution and Clip Loss](https://arxiv.org/pdf/1812.03368.pdf) CMU Michael Kaess高清深度图恢复 277 | #### 34. 2018-12-18-[Self-Improving Visual Odometry](https://arxiv.org/pdf/1812.03245.pdf) magic leap出品，可以线上训练网络，自我提升vo性能，厉害了！ 278 | #### 33. 2018-12-11-[Inferring Point Clouds from Single Monocular Images by Depth Intermediation](https://arxiv.org/pdf/1812.01402.pdf) 279 | #### 32. 2018-12-10-[BA-Net: Dense Bundle Adjustment Network](https://arxiv.org/pdf/1806.04807.pdf) 280 | #### 31. 2018-12-06-[Matching Features without Descriptors: Implicitly Matched Interest Points (IMIPs)](https://arxiv.org/pdf/1811.10681.pdf)Davide Scaramuzza Michael Bloesch 发表不需要描述子使用CNN就能匹配特征点方法 281 | #### 30. 2018-12-06-[DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds](https://arxiv.org/pdf/1811.11397.pdf)利用深度学习做激光点云匹配 282 | #### 29. 2018-12-03-[Loop Closure Detection with RGB-D Feature Pyramid Siamese Networks](https://arxiv.org/pdf/1811.09938.pdf) 283 | #### 28. 2018-12-03-[MagicVO: End-to-End Monocular Visual Odometry through Deep Bi-directional Recurrent Convolutional Neural Network](https://arxiv.org/pdf/1811.10964.pdf)端到端VO 284 | #### 27. 2018-11-06-[Semantic Mapping with Simultaneous Object Detection and Localization](https://arxiv.org/pdf/1810.11525.pdf) 285 | #### 26. 2018-11-06-[Real-Time RGB-D Camera Pose Estimation in Novel Scenes using a Relocalisation Cascade](https://arxiv.org/pdf/1810.12163.pdf)[随机森林做重定位](https://github.com/torrvision/spaint) 286 | #### 25. 2018-11-06-[Anytime Stereo Image Depth Estimation on Mobile Devices](https://arxiv.org/pdf/1810.11408.pdf) [代码](https://github.com/mileyan/AnyNet) 287 | #### 24. 2018-10-20-[Reactive Obstacle Avoidance of Monocular Quadrotors with Online Adapted Depth Prediction Network](https://www.sciencedirect.com/science/article/pii/S0925231218312074)线上自适应CNN估计深度 288 | #### 23. 2018-10-19-[Scene Coordinate Regression with Angle-Based Reprojection Loss for Camera Relocalization](https://arxiv.org/pdf/1808.04999.pdf)同下，合在一起读，可以加强理解 289 | #### 22. 2018-10-19-[DSAC - Differentiable RANSAC for Camera Localization](http://www.nowozin.net/sebastian/papers/brachmann2017dsac.pdf) 深度学习重定位，[代码](https://github.com/cvlab-dresden/DSAC) 290 | #### 21. 2018-10-19-[PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization](https://arxiv.org/pdf/1505.07427.pdf) 深度学习重定位，[代码](https://github.com/alexgkendall/caffe-posenet) 291 | #### 20. 2018-10-17-[Semantic-only Visual Odometry based on dense class-level segmentation](https://hal.archives-ouvertes.fr/hal-01874544/document) 292 | #### 19. 2018-10-15-[Learning to Solve Nonlinear Least Squares for Dense Tracking and Mapping](https://www.doc.ic.ac.uk/~sleutene/publications/Learning_to_Solve__ECCV_camera_ready.pdf) Andrew J. Davison 的 learned optimizer 293 | #### 18. 2018-10-09-[DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments](https://arxiv.org/pdf/1809.08379.pdf) 294 | #### 17. 2018-10-09-[Real-Time Monocular Object-Model Aware Sparse SLAM](https://arxiv.org/pdf/1809.09149.pdf) Ian Reid 295 | #### 16. 2018-10-08-[Efficient Constellation-Based Map-Merging for Semantic SLAM](https://arxiv.org/pdf/1809.09646.pdf) 296 | #### 15. 2018-10-08-[Learning to Fly by MySelf:A Self-Supervised CNN-based Approach for Autonomous Navigation](http://cas.ee.ic.ac.uk/people/alk15/files/IROS_2018_drone_nav.pdf) 297 | #### 14. 2018-10-08-[Semi-dense Stereo Matching using Dual CNNs](https://arxiv.org/pdf/1810.01369.pdf)深度估计 298 | #### 13. 2018-10-08-[Deep Learning Based Semantic Labelling of 3D Point Cloudin Visual SLAM ](http://iopscience.iop.org/article/10.1088/1757-899X/428/1/012023/pdf) SLAM 加上点云标签[代码在此](https://github.com/qixuxiang/orb-slam2_with_semantic_label) 299 | #### 12. 2018-10-06-[CNN-SVO: Improving the Mapping in Semi-Direct Visual OdometryUsing Single-Image Depth Prediction](https://arxiv.org/pdf/1810.01011.pdf) 用CNN 减少深度估计误差 [代码在此](https://arxiv.org/pdf/1810.01011.pdf) 300 | #### 11. 2018-09-26-[An Orientation Factor for Object-Oriented SLAM](https://arxiv.org/pdf/1809.06977.pdf) 301 | #### 10. 2018-09-25 [A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM](https://arxiv.org/pdf/1809.05225.pdf) 302 | #### 9. 2018-09-25 [GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks](https://arxiv.org/pdf/1809.05786.pdf) 303 | #### 8. 2018-07-25 Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry.TUM DL+DSO大作 304 | 305 | #### 7. Fusion++: Volumetric Object-Level SLAM 306 | 307 | #### 6. UnDeepVO: Monocular Visual Odometry through Unsupervised Deep Learning github:https://github.com/drmaj/UnDeepVO 308 | 309 | #### 5. Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments 310 | 311 | #### 4. Graph-Based Place Recognition in Image Sequences with CNN Features 312 | 313 | #### 3. VSO: Visual Semantic Odometry 314 | 315 | #### 2. Real-time Dense Monocular SLAM with Online Adapted Depth Prediction Network 316 | 317 | #### 1. DeepTAM: Deep Tracking and Mapping 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | -------------------------------------------------------------------------------- /SLAM_Research_2019.md: -------------------------------------------------------------------------------- 1 | 2 | # Recent_SLAM_Research 3 | 【回馈社区】跟踪SLAM前沿动态(2019), [2018版](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/README_2018.md) 技术更新太快，开启paper暴走模式，精选paper包括纯视觉SLAM，三维重建，基础数学工具，导航路径规划，深度学习SLAM，激光与视觉融合等类别。如果你发现我遗漏了本年度比较优秀的论文，请开issue留言，不胜感激。 4 | 5 | ## SLAM 能力图 6 | 7 | 8 | 9 | ### ------------ IROS 2019 [下载链接](https://drive.google.com/open?id=1Vd_ShC1w6WNHPDlNoIU_tMv0hRsXPnTw)------------ 10 | ### Calibration and Identification 11 | #### A Novel Robust Approach for Correspondence-Free Extrinsic Calibration. 12 | #### Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots. 13 | #### Model Free Calibration of Wheeled Robots Using Gaussian Process 14 | #### A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors. 15 | ### SLAM 16 | #### Active SLAM Using Connectivity Graphs As Priors. 17 | #### Map-Aware SLAM with Sparse Map Features. 18 | #### RISE-SLAM: A Resource-Aware Inverse Schmidt Estimator for SLAM. 19 | #### Better Lost in Transition Than Lost in Space: SLAM State Machine. 20 | #### Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping. 21 | #### Fast and Incremental Loop Closure Detection Using Proximity Graphs.（https://github.com/AnshanTJU/FILD） 22 | #### Outlier-Robust State Estimation for Humanoid Robots.（https://github.com/mrsp/serow） 23 | #### Pose Estimation for Omni-Directional Cameras Using Sinusoid Fitting. 24 | #### 3D Reconstruction by Single Camera Omnidirectional Multi-Stereo System. 25 | #### Metric Monocular Localization Using Signed Distance Fields. 26 | #### Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps. 27 | #### Eigen-Factors: Plane Estimation for Multi-Frame and Time-Continuous Point Cloud Alignment.（https://gitlab.com/gferrer/eigen-factors-iros2019） 28 | #### A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments. 29 | #### On the Tunable Sparse Graph Solver for Pose Graph Optimization in Visual SLAM Problems. 30 | #### Radar SLAM for Indoor Disaster Environments Via Multi-Modal Registration to Prior LiDAR Map. 31 | #### Robot Localization Via Odometry-Assisted Ultra-Wideband Ranging with Stochastic Guarantees. 32 | #### Sparse-3D Lidar Outdoor Map-Based Autonomous Vehicle Localization. 33 | #### GLFP: Global Localization from a Floor Plan. 34 | #### BTEL: A Binary Tree Encoding Approach for Visual Localization. 35 | #### FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. 36 | #### On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization and Mapping. 37 | #### Decentralized Visual-Inertial Localization and Mapping on Mobile Devices for Augmented Reality. 38 | #### Communication Constrained Cloud-Based Long-Term Visual Localization in Real Time. 39 | #### Visual-Inertial Odometry with Point and Line Features. 40 | #### Vision-Aided Localization for Ground Robots. 41 | #### Rolling-Shutter Modelling for Direct Visual-Inertial Odometry. 42 | #### DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping and Navigation. 43 | #### 2-Entity RANSAC for Robust Visual Localization in Changing Environment. 44 | #### DeepPCO: End-To-End Point Cloud Odometry through Deep Parallel Neural Network. 45 | #### OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios. 46 | #### Filter Early, Match Late: Improving Network-Based Visual Place Recognition. 47 | #### Degeneracy in Self-Calibration Revisited and a Deep Learning Solution for Uncalibrated SLAM. 48 | #### SGANVO: Unsupervised Deep Visual Odometry and Depth Estimation with Stacked Generative Adversarial Networks 49 | #### Robust Loop Closure Detection Based on Bag of SuperPoints and Graph Verification. 50 | #### Deep Supervised Hashing with Similar Hierarchy for Place Recognition. 51 | #### Learning Local Feature Descriptor with Motion Attribute for Vision-Based Localization. 52 | #### Robust and Efficient Vehicles Motion Estimation with Low-Cost Multi-Camera and Odometer-Gyroscope. 53 | #### SuMa++: Efficient LiDAR-Based Semantic SLAM.( https://github.com/PRBonn/semantic_suma/) 54 | #### Monocular Object and Plane SLAM in Structured Environments. 55 | #### CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient 56 | (https://github.com/rpng/calc2.0) 57 | #### Semantically Assisted Loop Closure in SLAM Using NDT Histograms.( https://github.com/azaganidis/se_ndt) 58 | #### Camera Pose Estimation with Semantic 3D Model. 59 | #### Accelerated Visual Inertial Navigation Via Fragmented Structure Updates. 60 | #### Long-Term Visual Inertial SLAM Based on Time Series Map Prediction. 61 | #### Data Flow ORB-SLAM for Real-Time Performance on Embedded GPU Boards. 62 | (https://github.com/xaldyz/dataflow-orbslam) 63 | #### A Robust Stereo Semi-Direct SLAM System Based on Hybrid Pyramid. 64 | #### Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. 65 | #### Visual-Inertial Odometry Tightly Coupled with Wheel Encoder Adopting Robust Initialization and Online Extrinsic Calibration. 66 | #### The Road Is Enough! Extrinsic Calibration of Non-Overlapping Stereo Camera and LiDAR Using Road Information. 67 | #### LIC-Fusion: LiDAR-Inertial-Camera Odometry. 68 | #### FA-Harris: A Fast and Asynchronous Corner Detector for Event Cameras. 69 | #### Rapid and Robust Monocular Visual-Inertial Initialization with Gravity Estimation Via Vertical Edges. 70 | #### A Unified Formulation for Visual Odometry. 71 | #### An Efficient and Accurate Algorithm for the Perspective-N-Point Problem. 72 | #### ORBSLAM-Atlas: A Robust and Accurate Multi-Map System. 73 | #### Sparse Depth Enhanced Direct Thermal-Infrared SLAM Beyond the Visible Spectrum. 74 | #### Robust High Accuracy Visual-Inertial-Laser SLAM System. 75 | #### Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion. 76 | #### Real-Time Dense Depth Estimation Using Semantically-Guided LIDAR Data Propagation and Motion Stereo. 77 | #### Non-Parametric Mixed-Manifold Products Using Multiscale Kernel Densities. 78 | #### Perception System Design for Low-Cost Commercial Ground Robots: Sensor Configurations, Calibration, Localization, and Mapping. 79 | #### Visual-Inertial Localization with Prior LiDAR Map Constraints. 80 | #### Extending Monocular Visual Odometry to Stereo Camera Systems by Scale Optimization. 81 | #### Line-Based Absolute and Relative Camera Pose Estimation in Structured Environments. 82 | #### Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion. 83 | #### A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions. 84 | #### LiDAR-Flow: Dense Scene Flow Estimation from Sparse LiDAR and Stereo Images. 85 | #### ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals.( https://github.com/PRBonn/refusion) 86 | #### GPU Accelerated Robust Scene Reconstruction.( https://github.com/theNded/Open3D) 87 | #### View Management for Lifelong Visual Maps. 88 | #### TerrainFusion: Real-Time Digital Surface Model Reconstruction Based on Monocular SLAM. 89 | ### Motion and Path Planning 90 | #### Predictive Inverse Kinematics: Optimizing Future Trajectory through Implicit Time #### Integration and Future Jacobian Estimation. 91 | #### Computing 3D From-Region Visibility Using Visibility Integrity. 92 | #### Edge-Preserving Camera Trajectories for Improved Optical Character Recognition on Static Scenes with Text. 93 | #### Virtual Region Based Multi-Robot Path Planning in an Unknown Occluded Environment. 94 | #### Fast Trajectory Planning for Multiple Quadrotors Using Relative Safe Flight Corridor. 95 | #### Coverage Path Planning Using Path Primitive Sampling and Primitive Coverage Graph for Visual Inspection. 96 | #### Volumetric Tree*: Adaptive Sparse Graph for Effective Exploration of Homotopy Classes.（https://github.com/andreacasalino/MT_RRT） 97 | #### RINS-W: Robust Inertial Navigation System on Wheels. 98 | #### Maximum Likelihood Path Planning for Fast Aerial Maneuvers and Collision Avoidance. 99 | #### Graph-Based Path Planning for Autonomous Robotic Exploration in Subterranean Environments. 100 | #### Constrained Heterogeneous Vehicle Path Planning for Large-Area Coverage. 101 | #### Combining Stochastic Optimization and Frontiers for Aerial Multi-Robot Exploration of 3D Terrains. 102 | #### Optimal Temporal Logic Planning for Multi-Robot Systems in Uncertain Semantic Maps. 103 | #### Multi Robot Route Planning (MRRP): Extended Spatial-Temporal Prioritized Planning. 104 | #### An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem. 105 | #### Scheduling of Mobile Workstations for Overlapping Production Time and Delivery Time. 106 | ### ------------ IROS 2019 终止线 ---------- 107 | 108 | ### ------------ ICRA 2019 重磅来袭 吐血整理关于SLAM部分 [下载链接](https://drive.google.com/open?id=1e-5pBpfkXBvMeeYzVjC4sv_LhCgN3RB8)---------- 109 | #### 0031 Aided Inertial Navigation - Unified Feature Representations and Observability Analysis 110 | #### 0036 Learning Wheel Odometry and IMU Errors for Localization 111 | #### 0041 MH-iSAM2 - Multi-Hypothesis iSAM Using Bayes Tree and Hypo-Tree 112 | #### 0060 Deep Reinforcement Learning of Navigation in a Complex and Crowded Environment with a Limited Field of View 113 | #### 0078 Living with a Mobile Companion Robot in Your Own Apartment - Final Implementation and Results of a 20-Weeks Field Study 114 | #### 0095 Visual SLAM - Why Bundle Adjust 115 | #### 0118 Project AutoVision - Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System 116 | #### 0120 A Kalman Filter-Based Algorithm for Simultaneous Time Synchronization and Localization in UWB Network 117 | #### 0122 Pose Graph Optimization for Unsupervised Monocular Visual Odometry 118 | #### 0193 Learning Ad-Hoc Compact Representations from Salient Landmarks for Visual Place Recognition in Underwater Environments 119 | #### 0212 A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM 120 | #### 0215 Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot 121 | #### 0239 Tightly Coupled 3D Lidar Inertial Odometry and Mapping 122 | #### 0251 Fast Stochastic Functional Path Planning in Occupancy Maps 123 | #### 0257 A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures 124 | #### 0306 FMD Stereo SLAM - Fusing MVG and Direct Formulation towards Accurate and Fast Stereo SLAM 125 | #### 0317 Lidar Measurement Bias Estimation Via Return Waveform Modelling in a Context of 3D Mapping 126 | #### 0326 Rorg - Service Robot Software Management with Linux Containers 127 | #### 0336 Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving 128 | #### 0353 Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation 129 | #### 0355 Enabling Identity-Aware Tracking Via Fusion of Visual and Inertial Feature 130 | #### 0362 A New Approach to Local Navigation for Autonomous Driving Vehicles Based on the Curvature Velocity Method 131 | #### 0371 LookUP - Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles 132 | #### 0378 Uncertainty Estimation for Projecting Lidar Points Onto Camera Images for Moving Platforms 133 | #### 0389 Efficient Integrity Monitoring for KF-Based Localization 134 | #### 0390 SweepNet - Wide-Baseline Omnidirectional Depth Estimation 135 | #### 0395 3D Surface Reconstruction Using a Two-Step Stereo Matching Method Assisted with Five Projected Patterns 136 | #### 0431 Road Detection through CRF based LiDAR-Camera Fusion 137 | #### 0434 Real-Time Model Based Path Planning for Wheeled Vehicles 138 | #### 0448 Improving Keypoint Matching Using a Landmark-Based Image Representation 139 | #### 0467 Adding Cues to Binary Feature Descriptors for Visual Place Recognition 140 | #### 0508 Fast and Robust Initialization for Visual-Inertial SLAM 141 | #### 0522 ScalableFusion - High-Resolution Mesh-Based Real-Time 3D Reconstruction 142 | #### 0549 High-Precision Localization Using Ground Texture 143 | #### 0552 Actively Improving Robot Navigation on Different Terrains Using Gaussian Process Mixture Models 144 | #### 0561 KO-Fusion - Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking 145 | #### 0589 Learning Scene Geometry for Visual Localization in Challenging Conditions 146 | #### 0595 CNN-SVO - Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction 147 | #### 0613 Learning Action Representations for Self-supervised Visual Exploration 148 | #### 0636 Robust Object-Based SLAM for High-Speed Autonomous Navigation 149 | #### 0658 A Scalable Framework For Real-Time Multi-Robot Multi-Human Collision Avoidance 150 | #### 0660 SuperDepth - Self-Supervised Super-Resolved Monocular Depth Estimation 151 | #### 0666 Safe and Complete Real-Time Planning and Exploration in Unknown Environments 152 | #### 0674 Visual-Inertial Navigation - A Concise Review 153 | #### 0697 Uncertainty-Aware Occupancy Map Prediction Using Generative Networks for Robot Navigation 154 | #### 0700 Illumination Robust Monocular Direct Visual Odometry for Outdoor Environment Mapping 155 | #### 0717 GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping 156 | #### 0782 A Comparison of CNN-Based and Hand-Crafted Keypoint Descriptors 157 | #### 0783 IN2LAMA - INertial Lidar Localisation and MApping 158 | #### 0798 Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection 159 | #### 0860 Semantic Mapping for View-Invariant Relocalization 160 | #### 0862 Robotic Forceps without Position Sensors Using Visual SLAM 161 | #### 0867 Environment Driven Underwater Camera-IMU Calibration for Monocular Visual-Inertial SLAM 162 | #### 0897 Dense 3D Visual Mapping Via Semantic Simplification 163 | #### 0903 Redundant Perception and State Estimation for Reliable Autonomous Racing 164 | #### 0954 Semantic Mapping Extension for OpenStreetMap Applied to Indoor Robot Navigation 165 | #### 0968 Multirotor Dynamics Based Online Scale Estimation for Monocular SLAM 166 | #### 0970 UWBLiDAR Fusion for Cooperative Range-Only SLAM 167 | #### 0979 A Supervised Approach to Predicting Noise in Depth Images 168 | #### 0999 Dynamic Hilbert Maps - Real-Time Occupancy Predictions in Changing Environments 169 | #### 1008 Learning Monocular Visual Odometry through Geometry-Aware Curriculum Learning 170 | #### 1036 A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation 171 | #### 1045 Leveraging Structural Regularity of Atlanta World for Monocular SLAM 172 | #### 1072 Improving the Robustness of Visual-Inertial Extended Kalman Filtering 173 | #### 1073 ATLAS FaST - Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization 174 | #### 1086 Visual Appearance Analysis of Forest Scenes for Monocular SLAM 175 | #### 1090 Closed-Loop MPC with Dense Visual SLAM - Stability through Reactive Stepping 176 | #### 1092 Pedestrian Dominance Modeling for Socially-Aware Robot Navigation 177 | #### 1105 Energy-Aware Temporal Logic Motion Planning for Mobile Robots 178 | #### 1126 Real-Time Dense Mapping for Self-Driving Vehicles Using Fisheye Cameras 179 | #### 1129 RESLAM - A Real-Time Robust Edge-Based SLAM System 180 | #### 1143 Dense Surface Reconstruction from Monocular Vision and LiDAR 181 | #### 1147 Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB 182 | #### 1173 Depth Completion with Deep Geometry and Context Guidance 183 | #### 1176 Learned Map Prediction for Enhanced Mobile Robot Exploration 184 | #### 1204 DeepFusion - Real-Time Dense 3D Reconstruction for Monocular SLAM Using Single-View Depth and Gradient Predictions 185 | #### 1211 Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements 186 | #### 1247 Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry 187 | #### 1265 Adaptive Bingham Distribution Based Filter for SE(3) Estimation 188 | #### 1267 MID-Fusion - Octree-Based Object-Level Multi-Instance Dynamic SLAM 189 | #### 1278 Autonomous Exploration Reconstruction and Surveillance of 3D Environments Aided by Deep Learning 190 | #### 1322 Speeding up Iterative Closest Point Using Stochastic Gradient Descen 191 | #### 1324 Building a Winning Self-Driving Car in Six Months 192 | #### 1327 Obstacle-Aware Adaptive Informative Path Planning for UAV-Based Target Search 193 | #### 1340 OVPC Mesh - 3D Free-Space Representation for Local Ground VehicleNavigation 194 | #### 1358 Multi-Robot Informative Path Planning with Continuous Connectivity Constraints 195 | #### 1365 Look No Deeper - Recognizing Places from Opposing Viewpoints under Varying Scene Appearance Using Single-View Depth Estimation 196 | #### 1380 GANVO - Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks 197 | #### 1381 Efficient Constellation-Based Map-Merging for Semantic SLAM 198 | #### 1383 Multimodal Semantic SLAM with Probabilistic Data Associatio 199 | #### 1422 Surfel-Based Dense RGB-D Reconstruction with Global and Local Consistency 200 | #### 1448 3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM 201 | #### 1458 Characterizing Visual Localization and Mapping Datasets 202 | #### 1549 A-SLAM - Human-In-The-Loop Augmented SLAM 203 | #### 1555 Dynamic Channel - A Planning Framework for Crowd Navigation 204 | #### 1560 2D LiDAR Map Prediction Via Estimating Motion Flow with GRU 205 | #### 1567 Efficient 2D-3D Matching for Multi-Camera Visual Localization 206 | #### 1593 Where Should We Place LiDARs on the Autonomous Vehicle - An Optimal Design Approach 207 | #### 1599 Efficient Trajectory Planning for High Speed Flight in Unknown Environments 208 | #### 1607 Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints 209 | #### 1636 Depth Generation Network - Estimating Real World Depth from Stereo and Depth Images 210 | #### 1688 Localizing Discriminative Visual Landmarks for Place Recognition 211 | #### 1697 ROVO - Robust Omnidirectional Visual Odometry for Wide-Baseline Wide-FOV Camera Systems 212 | #### 1751 Non-Parametric Error Modeling for Ultra-Wideband Localization Networks 213 | #### 1760 RCM-SLAM - Visual Localisation and Mapping under Remote Centre of Motion Constraints 214 | #### 1784 Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration 215 | #### 1808 CoLo - A Performance Evaluation System for Multi-Robot Cooperative Localization Algorithms 216 | #### 1827 Variational End-To-End Navigation and Localization 217 | #### 1870 SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding 218 | #### 1891 Real-Time Monocular Object-Model Aware Sparse SLAM 219 | #### 1937 Tightly-Coupled Aided Inertial Navigation with Point and Plane Features 220 | #### 1942 RaD-VIO - Rangefinder-aided Downward Visual-Inertial Odometry 221 | #### 1946 Beyond Point Clouds - Fisher Information Field for Active Visual Localization 222 | #### 1954 Deep Local Trajectory Replanning and Control for Robot Navigation 223 | #### 1977 FastDepth - Fast Monocular Depth Estimation on Embedded Systems 224 | #### 2006 Probabilistic Projective Association and Semantic Guided Relocalization for Dense Reconstruction 225 | #### 2009 Kinematic Constraints Based Bi-Directional RRT (KB-RRT) with Parameterized Trajectories for Robot Path Planning in Cluttered Environment 226 | #### 2044 MRS-VPR - A Multi-Resolution Sampling Based Visual Place Recognition Method 227 | #### 2045 Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-Denied Environments 228 | #### 2111 Keyframe-Based Direct Thermal Inertial Odometry 229 | #### 2139 Self-Supervised Sparse-To-Dense - Self-Supervised Depth Completion from LiDAR and Monocular Camera 230 | #### 2143 A Multi-Domain Feature Learning Method for Visual Place Recognition 231 | #### 2162 Real-Time Scalable Dense Surfel Mapping 232 | #### 2186 Global Vision-Based Reconstruction of Three-Dimensional Road Surfaces Using Adaptive Extended Kalman Filter 233 | #### 2207 An Autonomous Loop-Closure Approach for Simultaneous Exploration and Coverage of Unknown Infrastructure Using MAVs 234 | #### 2334 Probabilistic Appearance-Based Place Recognition Through Bag of Tracked Words 235 | #### 2335 Robust Pose-Graph SLAM Using Absolute Orientation Sensing 236 | #### 2354 Monocular Semantic Occupancy Grid Mapping with Convolutional Variational Encoder-Decoder Networks 237 | #### 2358 Sparse2Dense - From Direct Sparse Odometry to Dense 3D Reconstruction 238 | #### 2381 Local Descriptor for Robust Place Recognition Using LiDAR Intensity 239 | #### 2390 Decentralized Full Coverage of Unknown Areas by Multiple Robots with Limited Visibility Sensing 240 | #### 2394 Enhancing V-SLAM Keyframe Selection with an Efficient ConvNet for Semantic Analysis 241 | #### 2410 Loosely-Coupled Semi-Direct Monocular SLAM 242 | #### 2533 Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks 243 | #### 2540 On-Line 3D Active Pose-Graph SLAM Based on Key Poses Using Graph Topology and Sub-Maps 244 | #### 2545 Low-Latency Visual SLAM with Appearance-Enhanced Local Map Building 245 | #### 2552 Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles 246 | #### 2554 Iteratively Reweighted Midpoint Method for Fast Multiple View Triangulation 247 | #### 2559 Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms with Time Delay Estimation 248 | #### 2643 Efficient Autonomous Exploration Planning of Large Scale 3D-Environments 249 | #### 2645 Deep Reinforcement Learning Robot for Search and Rescue Applications - Exploration in Unknown Cluttered Environments 250 | #### 2685 Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems 251 | #### 2703 Geometric Relation Distribution for Place Recognition 252 | #### 2717 Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments 253 | #### 2873 Multi-Process Fusion - Visual Place Recognition Using Multiple Image Processing Methods 254 | #### 2877 Geo-Supervised Visual Depth Prediction 255 | #### 2886 Effective Visual Place Recognition Using Multi-Sequence Maps 256 | #### 2894 Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation 257 | #### 2897 On the Impact of Uncertainty for Path Planning 258 | #### 2901 Multi-Robot Motion Planning with Dynamics Via Coordinated Sampling-Based Expansion Guided by Multi-Agent Search 259 | #### 2911 Energy-Efficient Coverage Path Planning for General Terrain Surfaces 260 | #### 2943 VUNet - Dynamic Scene View Synthesis for Traversability Estimation Using an RGB Camera 261 | #### 2948 Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter 262 | #### 2985 1-Day Learning 1-Year Localization - Long-Term LiDAR Localization Using Scan Context Image 263 | #### 2992 Robust Global Structure from Motion Pipeline with Parallax on Manifold Bundle Adjustment and Initialization 264 | #### 3117 Learning Scene Geometry for Visual Localization in Challenging Conditions 265 | #### 3118 Geo-Supervised Visual Depth Prediction 266 | #### 3130 Search-Based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight under Sensor Visibility Constraints 267 | ### ------------ ICRA 2019 终止线 ---------- 268 | 269 | ### SLAM 270 | #### 125. 2019-12-31-[Localization Limitations of ARCore, ARKit, and Hololens in Dynamic Large-Scale Industry Environments](https://www2.cs.fau.de/publication/download/GRAPP2020.pdf) 271 | #### 124. 2019-12-31-[RGB-Channel-based Illumination Robust SLAM Method](http://www.joace.org/uploadfile/2019/1218/20191218031228815.pdf) 272 | #### 123. 2019-12-31-[A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments](https://www.researchgate.net/profile/Shibo_Zhao2/publication/338115486_A_Robust_Laser-Inertial_Odometry_and_Mapping_Method_for_Large-Scale_Highway_Environments/links/5e0027a14585159aa492be7e/A-Robust-Laser-Inertial-Odometry-and-Mapping-Method-for-Large-Scale-Highway-Environments.pdf) 273 | #### 122. 2019-12-31-[Research on Visual and Inertia Fusion Odometry Based on PROSAC Mismatched Culling Algorithm](https://dl.acm.org/doi/10.1145/3366715.3366725) 274 | #### 121. 2019-12-31-[Error Improvement in Visual Odometry Using Super-resolution](https://link.springer.com/article/10.1007/s12555-019-0256-5) 275 | #### 120. 2019-12-31-[LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry](https://deepai.org/publication/lidar-and-camera-calibration-using-motion-estimated-by-sensor-fusion-odometry) 276 | #### 119. 2019-12-31-[Joint Forward-Backward Visual Odometry for Stereo Cameras](https://arxiv.org/pdf/1912.10293.pdf) 277 | #### 118. 2019-12-31-[Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8935194) 278 | #### 117. 2019-12-18-[VersaVIS: An Open Versatile Multi-CameraVisual-Inertial Sensor Suite](https://arxiv.org/pdf/1912.02469.pdf) 开源多传感器同步硬件 279 | #### 116. 2019-12-11-[OpenVINS: A Research Platform for Visual-Inertial Estimation](https://pdfs.semanticscholar.org/cb63/60f21255834297e32826bff6366a769b49e9.pdf) 280 | #### 115. 2019-12-11-[A Novel Texture-Less Object OrientedVisual SLAM System](https://sci-hub.tw/10.1109/TITS.2019.2952159) 281 | #### 114. 2019-11-30-[An Efficient LiDAR-IMU Calibration Method Based on Continuous-Time Trajectory](https://pdfs.semanticscholar.org/3caa/271d29c622f29c22ae2bc2aad22dece155f6.pdf) 282 | #### 113. 2019-11-30-[SOF-SLAM: A Semantic Visual SLAM for Dynamic Environments](https://ieeexplore.ieee.org/abstract/document/8894002/authors) 283 | #### 112. 2019-11-30-[Rapid Initialization using Relative Pose Constraints in Stereo Visual-Inertial Odometry](https://ieeexplore.ieee.org/abstract/document/8899485) 284 | #### 111. 2019-10-18-[A GPS-aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments](https://www.ram-lab.com/papers/2019/yuyang_iros2019.pdf) 285 | #### 110. 2019-10-18-[A fast, complete, point cloud based loop closure for LiDAR odometry and mapping](https://arxiv.org/abs/1909.11811) 286 | #### 109. 2019-10-18-[DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams](https://arxiv.org/abs/1909.12198) 287 | #### 108. 2019-10-18-[Robust Semi-Direct Monocular Visual Odometry Using Edge and Illumination-Robust Cost](https://arxiv.org/abs/1909.11362) 288 | #### 107. 2019-10-11-[Pose Estimation for Omni-directional Cameras using Sinusoid Fitting](https://arxiv.org/pdf/1910.00882.pdf) 289 | #### 106. 2019-10-11-[OpenVSLAM: A Versatile Visual SLAM Framework](https://arxiv.org/pdf/1910.01122.pdf) 290 | #### 105. 2019-10-11-[High Availability Mapping and Localization](https://april.eecs.umich.edu/papers/details.php?name=wang2019phd)密歇根大学 Xipeng Wang 博士论文 291 | #### 104. 2019-10-08-[An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments](http://helenol.github.io/publications/jfr_2019_system.pdf) 292 | #### 103. 2019-10-08-[Technical Report: A Tightly Coupled VLC-Inertial Localization System by EKF](https://www.ram-lab.com/papers/2019/tr_vlcinertial.pdf) 293 | #### 102. 2019-09-30-[Mine Tunnel Exploration using Multiple Quadrupedal Robots](https://arxiv.org/pdf/1909.09662.pdf) Vijay Kumar隧道搜寻机器人定位 294 | #### 101. 2019-09-05-[Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping](https://arxiv.org/pdf/1908.08891.pdf) 295 | #### 100. 2019-09-05-[Multi-Spectral Visual Odometry without Explicit Stereo Matching](https://arxiv.org/pdf/1908.08814.pdf)红外相机与传统相机双目SLAM 296 | #### 99. 2019-09-05-[Camera Pose Correction in SLAM Based on Bias Values of Map Points](https://arxiv.org/pdf/1908.09072.pdf) 297 | #### 98. 2019-09-05-[Large Scale 2D Laser SLAM using Truncated Signed Distance Functions](https://www.sim.informatik.tu-darmstadt.de/publ/download/2019_daun_ssrr.pdf) 298 | #### 97. 2019-09-05-[EKLT: Asynchronous Photometric Feature Tracking using Events and Frames](http://rpg.ifi.uzh.ch/docs/IJCV19_Gehrig.pdf) Event 相机与传统相机结合做追踪 299 | #### 96. 2019-09-01-[ORBSLAM-Atlas: a robust and accurate multi-map system](https://128.84.21.199/pdf/1908.11585.pdf) 300 | #### 95. 2019-08-16-[PALVO: visual odometry based on panoramic annular lens](https://www.osapublishing.org/DirectPDFAccess/8DD73308-D81D-1AC4-2453844914F8BA31_416727/oe-27-17-24481.pdf?da=1&id=416727&seq=0&mobile=no)全景相机SLAM 301 | #### 94. 2019-07-31-[On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping](https://hal.archives-ouvertes.fr/hal-02190833/document)多机器人VIO-SLAM 302 | #### 93. 2019-07-31-[Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model](https://arxiv.org/pdf/1907.08388.pdf) scene flow去除动态物体 303 | #### 92. 2019-07-26-[Accurate Initialization Method for Monocular Visual-Inertial SLAM](https://ieeexplore.ieee.org/abstract/document/8757790/authors#authors) 304 | #### 91. 2019-07-26-[Stereo Visual SLAM Based on Unscented Dual Quaternion Filtering](https://www.researchgate.net/profile/Kailai_Li/publication/334318103_Stereo_Visual_SLAM_Based_on_Unscented_Dual_Quaternion_Filtering/links/5d2449e5299bf1547ca4ffbf/Stereo-Visual-SLAM-Based-on-Unscented-Dual-Quaternion-Filtering.pdf) 305 | #### 90. 2019-07-26-[An Open-Source Benchmark for Scale-Aware Visual Odometry Algorithms](https://www.e-sciencecentral.org/articles/SC000034658)开源的评测系统 306 | #### 89. 2019-06-28-[Monocular Visual Odometry Initialization with Points and Line Segments](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8728034) 307 | #### 88. 2019-06-28-[DS-VIO: Robust and Efficient Stereo Visual Inertial Odometry based on Dual Stage EKF](https://arxiv.org/pdf/1905.00684.pdf) 308 | #### 87. 2019-06-19-[Edge-Direct Visual Odometry](https://arxiv.org/pdf/1906.04838.pdf)CMU 边缘直接法VO 309 | #### 86. 2019-06-13-[An Automatic Key-Frame Selection Method for Monocular Visual Odometry of Ground Vehicle](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8715357) 310 | #### 85. 2019-06-13-[ARM-VO: an efficient monocular visual odometry for ground vehicles on ARM CPUs](https://link.springer.com/article/10.1007/s00138-019-01037-5) ARM优化版本VO 311 | #### 84. 2019-06-13-[Large-Scale Outdoor SLAM Based on 2D Lidar](https://www.researchgate.net/publication/333521486_Large-Scale_Outdoor_SLAM_Based_on_2D_Lidar) 312 | #### 83. 2019-06-13-[Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue](https://arxiv.org/pdf/1906.01304.pdf) 313 | #### 82. 2019-06-13-[Partial Computing Offloading Assisted Cloud Point Registration in Multi-robot SLAM](https://arxiv.org/pdf/1905.12973.pdf)降低多机SLAM计算量 314 | #### 81. 2019-06-13-[Stereo Visual Odometry Based on Motion Decoupling and Special Feature Screening for Navigation of Autonomous Vehicles](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8718624)远点近点分开利用 315 | #### 80. 2019-06-13-[Extending Monocular Visual Odometry to Stereo Camera System by Scale Optimization](https://arxiv.org/pdf/1905.12723.pdf) 计算量小的伪双目 316 | #### 79. 2019-06-10-[Extrinsic calibration of a single-point laser rangefinder and single camera](https://link.springer.com/article/10.1007/s11082-019-1907-8) 连同78,都是2D激光传感器与视觉传感器外参标定 317 | #### 78. 2019-06-10-[A Simple Calibration Procedure for A 2D LiDAR with Respect to A Camera](https://ieeexplore.ieee.org/abstract/document/8710299) 318 | #### 77. 2019-06-10-[HeteroFusion: Dense Scene Reconstruction Integrating Multi-sensors](https://orca.cf.ac.uk/122866/1/HeteroFusion-Final.pdf) 融合多种传感器的三维重建 319 | #### 76. 2019-06-05-[A Simultaneous Localization and Mapping (SLAM) Framework for 2.5D Map Building Based on Low-Cost LiDAR and Vision Fusion](https://www.researchgate.net/publication/333315015_A_Simultaneous_Localization_and_Mapping_SLAM_Framework_for_25D_Map_Building_Based_on_Low-Cost_LiDAR_and_Vision_Fusion) 激光与视觉融合SLAM 320 | #### 75. 2019-06-05-[eSLAM: An Energy-Efficient Accelerator for Real-Time ORB-SLAM on FPGA Platform](http://sci-hub.tw/10.1145/3316781.3317820) 321 | #### 74. 2019-05-28-[Robust simultaneous localization and mapping in low-light environment](https://onlinelibrary.wiley.com/doi/abs/10.1002/cav.1895) 提取两种特征点解决光照问题 322 | #### 73. 2019-05-28-[An Extensive Approach to Features Detection and Description for 2D Range Data using Active B-splines](https://ieeexplore.ieee.org/abstract/document/8716503) 323 | #### 72. 2019-05-28-[Low-latency Visual SLAM with Appearance-Enhanced Local Map Building](https://arxiv.org/pdf/1905.07797.pdf) 324 | #### 71. 2019-05-28-[Characterizing SLAM Benchmarks and Methods for the Robust Perception Age](https://arxiv.org/pdf/1905.07808.pdf) 325 | #### 70. 2019-05-24-[RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots](https://www.researchgate.net/publication/333125503_RGBD-Inertial_Trajectory_Estimation_and_Mapping_for_Ground_Robots)RGBD+IMU,基于VINS_MONO 326 | #### 69. 2019-05-24-[A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM](https://www.mdpi.com/1424-8220/19/10/2230) 基于单目产生的有尺度漂移的地图,用激光定位,感觉没多大用 327 | #### 68. 2019-05-24-[Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power](https://ieeexplore.ieee.org/abstract/document/8714921) 低功耗 VINS 328 | #### 67. 2019-05-24-[Explorations and Lessons Learned in Building an Autonomous FormulaSAEa Car from Simulations](https://arxiv.org/pdf/1905.05940.pdf)学生方程式赛车学习 329 | #### 66. 2019-05-24-[Low-cost IMU Data Denoising using Savitzky-Golay Filters](https://ieeexplore.ieee.org/abstract/document/8713728)IMU数据降噪 330 | #### 65. 2019-05-20-[AMZ Driverless: The Full Autonomous Racing System](https://arxiv.org/pdf/1905.05150.pdf) ETH赛车 331 | #### 64. 2019-05-20-[ROS-based localization of a race vehicle at high-speed using LIDAR](https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/21/e3sconf_icpeme2018_04002.pdf)TUM赛车 332 | #### 63. 2019-05-20-[An Open Source and Open Hardware Deep Learning-powered Visual Navigation Engine for Autonomous Nano-UAVs](https://arxiv.org/pdf/1905.04166.pdf)ETH最小无人机自动导航 333 | #### 62. 2019-05-20-[DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration](https://arxiv.org/pdf/1905.04153.pdf)百度无人车团队DeepICP 334 | #### 61. 2019-05-20-[3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM](http://act.usc.edu/publications/Boroson_ICRA2019.pdf)南加州大学基于3D点云的特征点 335 | #### 60. 2019-05-14-[Monocular Semidirect Visual Odometry for Large-scale Outdoor Localization](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8703146) 336 | #### 59. 2019-05-14-[CREAK descriptor evaluation for visual odometry](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8704807) CREAK 描述子测试 337 | #### 58. 2019-05-05-[Humanoid Robot Dense RGB-D SLAM for Embedded Devices*](https://www.researchgate.net/profile/Stylianos_Piperakis3/publication/332686387_Humanoid_Robot_Dense_RGB-D_SLAM_for_Embedded_Devices/links/5cc341654585156cd7b4518e/Humanoid-Robot-Dense-RGB-D-SLAM-for-Embedded-Devices.pdf) 使用RGBD+IMU+Encoder做Nao机器人状态估计 338 | #### 57. 2019-04-29-[Structure Aware SLAM using Quadrics and Planes](https://www.researchgate.net/profile/Yasir_Latif/publication/324745171_Towards_Semantic_SLAM_Points_Planes_and_Objects/links/5caaa871a6fdcca26d065630/Towards-Semantic-SLAM-Points-Planes-and-Objects.pdf) 339 | #### 56. 2019-04-29-[VITAMIN-E: VIsual Tracking And MappINg with Extremely Dense Feature Points](https://arxiv.org/pdf/1904.10324.pdf) 很鲁棒的单目三维重建 340 | #### 55. 2019-04-26-[Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?](https://arxiv.org/pdf/1904.07967.pdf) 关于回环检测的综述 341 | #### 54. 2019-04-23-[An Improved Hector SLAM Algorithm based on Information Fusion for Mobile Robot](https://ieeexplore.ieee.org/abstract/document/8691198) 342 | #### 53. 2019-04-23-[Robust RGB-D Visual Odometry Based on the Line Intersection Structure Feature in Low-Textured Scenes](https://ieeexplore.ieee.org/abstract/document/8691213) 343 | #### 52. 2019-04-23-[Object Recognition and Simultaneous Indoor Localization Algorithm with Stereo Camera](https://ieeexplore.ieee.org/abstract/document/8691211) 344 | #### 51. 2019-04-23-[Learning Whole-Image Descriptors for Real-time Loop Detection and Kidnap Recovery under Large Viewpoint Difference](https://arxiv.org/pdf/1904.06962.pdf) 港科大弱监督(NetVLAD)下的重定位恢复 345 | #### 50. 2019-04-23-[Visual-Inertial Mapping with Non-Linear Factor Recovery](https://arxiv.org/pdf/1904.06504.pdf) 346 | #### 49. 2019-04-23-[Direct Sparse Mapping](https://arxiv.org/pdf/1904.06577.pdf) 带有回环检测的稀疏直接法 347 | #### 48. 2019-04-23-[Gyroscope-aided Relative Pose Estimation for Rolling Shutter Cameras](https://arxiv.org/pdf/1904.06770.pdf) 使用IMU解决卷帘快门图像问题 348 | #### 47. 2019-04-17-[Adaptive SLAM with synthetic stereo dataset generation for real-time dense 3D reconstruction](https://hal.archives-ouvertes.fr/hal-02086843/document)提出在直线行走时降低图像帧率,节省计算资源以及减少误差 349 | #### 46. 2019-04-17-[Robust Legged Robot State Estimation Using Factor Graph Optimization](https://arxiv.org/pdf/1904.03048.pdf) Anymal 四足机器人定位算法 350 | #### 45. 2019-04-11-[Stereo camera visual odometry for moving urban environments](https://content.iospress.com/articles/integrated-computer-aided-engineering/ica190598) 351 | #### 44. 2019-04-11-[Online IMU Self-Calibration for Visual-Inertial Systems](https://www.mdpi.com/1424-8220/19/7/1624) 352 | #### 43. 2019-04-02-[KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking](https://www.imperial.ac.uk/media/imperial-college/research-centres-and-groups/dyson-robotics-lab/chouseago_etal_icra2019.pdf)Dyson 和 Imprial college 研发的RGBD融合底盘dense slam 353 | #### 42. 2019-04-02-[SlamCraft: Dense Planar RGB Monocular SLAM](https://www.researchgate.net/publication/331832804_SlamCraft_Dense_Planar_RGB_Monocular_SLAM) 354 | #### 41. 2019-03-29-[Learning 3D Semantic Reconstruction on Octrees](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/332863/1/Wang_Xiaojuan.pdf)ETH wang xiaojuan三维语义重建硕士论文 355 | #### 40. 2019-03-29-[An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM](https://arxiv.org/pdf/1903.08636.pdf) 356 | #### 39. 2019-03-29-[Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions](https://arxiv.org/pdf/1903.09107.pdf)关于回环检测的综述 357 | #### 38. 2019-03-29-[Wheelchair robot navigation in different weather conditions using deep learning and evolved neural controller](https://www.emeraldinsight.com/doi/abs/10.1108/IR-08-2018-0176) 358 | #### 37. 2019-03-29-[Pragma-Oriented Parallelization of the Direct Sparse Odometry SLAM Algorithm](https://ieeexplore.ieee.org/abstract/document/8671561) 359 | #### 36. 2019-03-25-[FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM](https://www.researchgate.net/publication/281217090_Stereo_Parallel_Tracking_and_Mapping_for_robot_localization) 360 | #### 35. 2019-03-21-[Spatiotemporal Decoupling Based LiDARCamera Calibration under Arbitrary Configurations](https://arxiv.org/pdf/1903.06141.pdf) 361 | #### 34. 2019-03-21-[An Accurate Localization Scheme for Mobile Robots Using Optical Flow in Dynamic Environments](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8664893/) 362 | #### 33. 2019-03-16-[2-Entity RANSAC for robust visual localization in changing environment](https://arxiv.org/pdf/1903.03967.pdf) 363 | #### 32. 2019-03-16-[A Unified Formulation for Visual Odometry](https://arxiv.org/pdf/1903.04253.pdf) 综合直接法和间接法 364 | #### 31. 2019-03-13-[Nonparametric Statistical and Clustering Based RGB-D Dense Visual Odometry in a Dynamic Environment](https://sci-hub.tw/https://link.springer.com/article/10.1007/s13319-019-0220-4)多帧残差模型处理动态物体 365 | #### 30. 2019-03-13-[3D Reconstruction and Texture Optimization Using a Sparse Set of RGB-D Cameras](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8658571/) 366 | #### 29. 2019-03-13-[EGO-SLAM: A Robust Monocular SLAM for Egocentric Videos](https://www.cse.iitd.ac.in/~chetan/papers/wacv19-egoslam.pdf) 367 | #### 28. 2019-03-11-[Real-Time Visual Odometry Covariance Estimation or Unmanned Air Vehicle Navigation](https://arc.aiaa.org/doi/pdfplus/10.2514/1.G004000) 368 | #### 27. 2019-03-11-[Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry](https://arxiv.org/pdf/1903.00912.pdf)单目估计尺度 369 | #### 26. 2019-03-11-[Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities](https://www.mit.edu/~arosinol/research/struct3dmesh.html)出自MIT，在VIO中根据三角剖分加入结构化特征 370 | #### 25. 2019-03-08-[ROVO: Robust Omnidirectional Visual Odometry for Wide-baseline Wide-FOV Camera Systems](https://arxiv.org/pdf/1902.11154.pdf)多目鱼眼SLAM 371 | #### 24. 2019-03-08-[Robust RGB-D Odometry under Depth Uncertainty for Structured Environments](https://search.proquest.com/openview/d9b6a8efb6fd8075cfe7aeed663085c7/1?pq-origsite=gscholar&cbl=2026366&diss=y) 博士论文处理RGBD深度误差 372 | #### 23. 2019-03-08-[Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping](https://arxiv.org/pdf/1902.10741.pdf)激光在山洞容易失效，双目可以增强某些场景 373 | #### 22. 2019-03-08-[Double-Layer Cubature Kalman Filter for Nonlinear Estimation](https://sci-hub.tw/https://www.mdpi.com/1424-8220/19/5/986) 374 | #### 21. 2019-03-08-[A Vertex-to-Edge Weighted Closed-Form Method for Dense RGB-D Indoor SLAM ](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8649628) 375 | #### 20. 2019-02-28-[Vision Sensor Aided Navigation for Ground Vehicle Applications](https://sci-hub.tw/https://prism.ucalgary.ca/handle/1880/109478) Liu Zhenbo 博士毕业论文讲的很仔细 376 | #### 19. 2019-02-28-[GSLAM: A General SLAM Framework and Benchmark](https://arxiv.org/pdf/1902.07995.pdf) 兼容多种框架的框架。。。 377 | #### 18. 2019-02-26-[A lightweight and scalable visual‑inertial motion capture system using fducial markers](https://sci-hub.tw/10.1007/s10514-019-09834-7)二维码加IMU 378 | #### 17. 2019-02-21-[Robust 3D Indoor Map Building via RGB-D SLAM with Adaptive IMU Fusion on Robot](https://www.mdpi.com/1424-8220/16/10/1589/pdf) 简单直接的融合方式 379 | #### 16. 2019-02-18-[UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers](https://arxiv.org/pdf/1902.03729.pdf)融合视觉与二维码标签SLAM，[代码](https://sourceforge.net/projects/ucoslam/) 380 | #### 15. 2019-02-14-[Visual SLAM: Why Bundle Adjust?](https://arxiv.org/pdf/1902.03747.pdf)Ian Reid的改进版BA 381 | #### 14. 2019-02-14-[A real-time visual-inertial mapping and localization method by fusing unstable GPS](https://ieeexplore.ieee.org/abstract/document/8630513) 根据GPS信号可信度调整优化方法 382 | #### 13. 2019-02-14-[Comparison and Analysis of Feature Method and Direct Method in Visual SLAM Technology for Social Robots](https://ieeexplore.ieee.org/abstract/document/8630714)对比直接法与特征点法 383 | #### 12. 2019-01-30-[Multi-objective Mapping and Path Planning using Visual SLAM and Object Detection](https://uwspace.uwaterloo.ca/bitstream/handle/10012/14386/Woo_Ami.pdf?sequence=3&isAllowed=y) 一篇硕士论文 384 | #### 11. 2019-01-30-[Extrinsic Calibration of Lidar and Camera with Polygon](https://ram-lab.com/papers/2018/liao_robio2018.pdf) 利用已知多边形板子获得激光与视觉传感器外参，出自港科大刘明老师 385 | #### 10. 2019-01-30-[Robust Photogeometric Localization over Time for Map-Centric Loop Closure](https://arxiv.org/pdf/1901.07660.pdf)解决map-centric slam回环问题 386 | #### 9. 2019-01-25-[A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns](https://www.mdpi.com/1424-8220/19/2/349/htm) 多个RGBD相机外参标定 387 | #### 8. 2019-01-25-[SLAM of Robot based on the Fusion of Vision and LIDAR](https://sci-hub.tw/10.1109/cbs.2018.8612212)RGBD 与lidar 融合，好像只是处理逻辑关系判断，没有深度融合 388 | #### 7. 2019-01-25-[ADAPTIVE FILTERING FOR VISION-AIDED INERTIAL NAVIGATION](https://smartech.gatech.edu/bitstream/handle/1853/60806/LEE-DISSERTATION-2018.pdf?sequence=1&isAllowed=y) 佐治亚理工博士论文，关于自适应卡尔曼滤波 389 | #### 6. 2019-01-25-[Loosely-Coupled Semi-Direct Monocular SLAM](https://arxiv.org/pdf/1807.10073.pdf) Javier Civera 直接法和特征法融合，也是我现在工作比较感兴趣的一个方向 390 | #### 5. 2019-01-25-[Visual-Inertial SLAM Initialization: A General Linear Formulation and a Gravity-Observing Non-Linear Optimization](https://sci-hub.tw/10.1109/ismar.2018.00027) Javier Civera 关于视觉惯导初始化问题的研究 391 | #### 4. 2019-01-11-[SDVL: Efficient and Accurate Semi-Direct Visual Localization](https://www.researchgate.net/publication/330379725_SDVL_Efficient_and_Accurate_Semi-Direct_Visual_Localization) 直接法与特征点法混合 392 | #### 3. 2019-01-11-[A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors](https://arxiv.org/pdf/1901.03638.pdf) 双目VINS 393 | #### 2. 2019-01-11-[A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors](https://arxiv.org/pdf/1901.03642.pdf) 港科大多传感器融合 394 | #### 1. 2019-01-09-[Factor Graphs for Flexible Inference in Robotics and Vision](https://smartech.gatech.edu/handle/1853/60646) Dellaert, Frank视频详解因子图，他也是牛逼的SKYDIO 的开发者之一 395 | 396 | ### Deep SLAM 397 | #### 28. 2019-12-31-[A Novel Approach to Image-Sequence-Based Mobile Robot Place Recognition](https://ieeexplore.ieee.org/abstract/document/8931657/authors#authors) 398 | #### 27. 2019-12-31-[DeepSFM: Structure From Motion Via Deep Bundle Adjustment](https://arxiv.org/pdf/1912.09697.pdf) 399 | #### 26. 2019-10-18-[Probabilistic Data Association via Mixture Models for Robust Semantic SLAM](https://arxiv.org/abs/1909.11213) 400 | #### 25. 2019-10-08-[Self-Supervised Learning of Depth and Ego-motion with Differentiable Bundle Adjustment](https://arxiv.org/pdf/1909.13163.pdf) 401 | #### 24. 2019-09-05-[Sequential Adversarial Learning for Self-Supervised Deep Visual Odometry](https://arxiv.org/pdf/1908.08704.pdf) 402 | #### 23. 2019-07-31-[Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry](https://www.researchgate.net/profile/Nan_Yang64/publication/326290322_Deep_Virtual_Stereo_Odometry_Leveraging_Deep_Depth_Prediction_for_Monocular_Direct_Sparse_Odometry/links/5b7d8947a6fdcc5f8b5c3f6f/Deep-Virtual-Stereo-Odometry-Leveraging-Deep-Depth-Prediction-for-Monocular-Direct-Sparse-Odometry.pdf) TUM Cremers 利用网络单目深度估计解决单目SLAM尺度问题 403 | #### 22. 2019-05-09-[EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association](https://arxiv.org/pdf/1904.11781.pdf)处理动态物体三维重建 404 | #### 21. 2019-05-09[GN-Net: The Gauss-Newton Loss for Deep Direct SLAM](https://arxiv.org/pdf/1904.11932.pdf)Daniel Cremers 所作,在帧间tracking时replace the image I with a feature map computed by a deep neural network. 405 | #### 20. 2019-04-26-[Deep Sensor Fusion between 2D Laser Scanner and IMU for Mobile Robot Localization](https://ieeexplore.ieee.org/abstract/document/8689068) 406 | #### 19. 2019-04-26-[LO-Net: Deep Real-time Lidar Odometry](https://arxiv.org/pdf/1904.08242.pdf) 407 | #### 18. 2019-04-23-[AI-IMU Dead-Reckoning](https://arxiv.org/pdf/1904.06064.pdf)只利用IMU做航迹推算,使用了卡尔曼滤波和神经网络 408 | #### 17. 2019-04-23-[Localizing Discriminative Visual Landmarks for Place Recognition](https://arxiv.org/pdf/1904.06635.pdf)回环检测 409 | #### 16. 2019-04-23-[Recurrent Neural Network for (Un-)supervised Learning of Monocular Video Visual Odometry and Depth](https://arxiv.org/pdf/1904.07087.pdf) 410 | #### 15. 2019-04-19-[Semantic Nearest Neighbor Fields for Monocular Edge Visual-Odometry](https://arxiv.org/pdf/1904.00738.pdf)带有语义信息的几何边融入到VO中 411 | #### 14. 2019-04-17-[VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP](https://arxiv.org/pdf/1904.03803.pdf) 412 | #### 13. 2019-04-17-[Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization](https://www.researchgate.net/profile/Abhinav_Valada/publication/331247138_Discovering_and_leveraging_deep_multimodal_structure_for_reliable_robot_perception_and_localization/links/5c7d5679299bf1268d3903d5/Discovering-and-leveraging-deep-multimodal-structure-for-reliable-robot-perception-and-localization.pdf) Wolfram Burgard 学生博士论文,主要讲述分割网络以及在SLAM中的应用 413 | #### 12. 2019-04-11-[Beyond Tracking:Selecting Memory and Refining Poses for Deep Visual Odometry](https://arxiv.org/pdf/1904.01892.pdf) 商汤北大合作 414 | #### 11. 2019-04-02-[Unsupervised Learning of Accurate Camera Pose and Depth From Video Sequences With Kalman Filter](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8666111) 415 | #### 10. 2019-03-25-[Pose Graph Optimization for Unsupervised Monocular Visual Odometry](https://arxiv.org/pdf/1903.06315.pdf) 416 | #### 9. 2019-03-16-[Sparse Representations for Object and Ego-motion Estimation in Dynamic Scenes](https://arxiv.org/pdf/1903.03731.pdf) 417 | #### 8. 2019-03-08-[DeepLO: Geometry-Aware Deep LiDAR Odometry](https://arxiv.org/pdf/1902.10562.pdf)基于深度学习的三维激光SLAM 418 | #### 7. 2019-03-08-[A Generative Map for Image-based Camera Localization](https://arxiv.org/pdf/1902.11124.pdf) 419 | #### 6. 2019-03-08-[GCNv2: Efficient Correspondence Prediction for Real-Time SLAM](https://arxiv.org/pdf/1902.11046.pdf) 网络生成ORB特征点，融合ORBSLAM里面去。[code](https://github.com/jiexiong2016/GCNv2_SLAM) 420 | #### 5. 2019-02-15-[Semantic and 3D Understanding of a Scene for Robot Perception](https://sci-hub.tw/http://search.proquest.com/openview/3a5804693015d4d0b42f1e4089a02267/1?pq-origsite=gscholar&cbl=18750&diss=y) 硕士论文 421 | #### 4. 2019-02-14-[VUNet: Dynamic Scene View Synthesis for Traversability Estimation using an RGB Camera](https://ieeexplore.ieee.org/document/8624332)估计机器人未来可通行区域 422 | #### 3. 2019-02-13-[GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping](https://arxiv.org/pdf/1902.02086.pdf) 423 | #### 2. 2019-01-25-[Towards Building the Semantic Map from a Monocular Camera with a Multi-task Network](https://arxiv.org/pdf/1901.05807.pdf) 中山大学通过多任务CNN生成单目深度图与并分割，重建出有语义信息的地图 424 | #### 1. 2019-01-22-[DF-SLAM: A Deep-Learning Enhanced Visual SLAM System based on Deep Local Features](https://arxiv.org/pdf/1901.07223.pdf) 425 | 426 | ### 3D Reconstruction 427 | #### 15. 2019-12-11-[Voxgraph: Globally Consistent, Volumetric MappingUsing Signed Distance Function Submaps](https://sci-hub.tw/10.1109/LRA.2019.2953859) 428 | #### 14. 2019-12-11-[Fast Image Reconstruction with an Event Camera](https://cedric-scheerlinck.github.io/files/2019_firenet.pdf) 429 | #### 13. 2019-10-18-[Merge-SfM: Merging Partial Reconstructions](https://bmvc2019.org/wp-content/uploads/papers/1004-paper.pdf) 430 | #### 12. 2019-09-30-[OPTIMIZATION OF POSE, TEXTURE AND GEOMETRY IN 3D RECONSTRUCTION WITH CONSUMER DEPTH CAMERAS](https://utd-ir.tdl.org/handle/10735.1/6870) 三维重建博士论文 431 | #### 11. 2019-09-05-[DEFSLAM: TRACKING AND MAPPING OF DEFORMING SCENES FROM MONOCULAR SEQUENCES](https://arxiv.org/pdf/1908.08918.pdf) 432 | #### 10. 2019-09-05-[Learning Meshes for Dense Visual SLAM](https://www.imperial.ac.uk/media/imperial-college/research-centres-and-groups/dyson-robotics-lab/mbloesch_etal_iccv2019.pdf) 433 | #### 9. 2019-07-26-[Multi-Robot Collaborative Dense Scene Reconstruction](https://sci-hub.shop/10.1145/3306346.3322942) 434 | #### 8. 2019-06-13-[DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions](https://www.imperial.ac.uk/media/imperial-college/research-centres-and-groups/dyson-robotics-lab/tlaidlow_etal_icra2019.pdf) 435 | #### 7. 2019-05-14-[ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals](https://arxiv.org/pdf/1905.02082.pdf) 436 | #### 6. 2019-04-02-[TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo](https://arxiv.org/pdf/1903.10929.pdf) 437 | #### 5. 2019-03-25-[Robust and affordable localization and mapping for 3D reconstruction. Application to architecture and construction](http://uvadoc.uva.es/bitstream/10324/35078/1/Tesis1482-190314.pdf) 438 | #### 4. 2019-02-18-[Improving 3D reconstruction via RGB-D camera registration and shading-based surface refinement]南阳理工邓腾博士论文 439 | #### 3. 2019-02-13-[Comparative analysis of properties of LiDAR-based point clouds versus camerabased point clouds for 3D reconstruction using SLAM algorithms](http://scholar.google.com/scholar_url?url=https://www.doria.fi/bitstream/handle/10024/167410/bistrom_benjamin.pdf%3Fsequence%3D2&hl=de&sa=X&d=12452230042616813822&scisig=AAGBfm38puu_H5N8Tp62YkqQwuvZUVNXOw&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:13453396895897446987:AAGBfm2VmZLsOGwX0LAQ1scLkl9E22zpBQ)激光点云与RGBD点云对比 440 | #### 2. 2019-01-12-[Real-time Monocular Dense Mapping of Small Scenes with ORB Features](https://sci-hub.tw/https://ieeexplore.ieee.org/document/8610747) 单目ORB SLAM重建 441 | #### 1. 2019-01-12-[NRMVS: Non-Rigid Multi-View Stereo](https://arxiv.org/pdf/1901.03910.pdf) 根据不同视角RGB图像对变形物体三维重建 442 | 443 | ### Auto driving 444 | #### 11. 2019-12-18[OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios](https://arxiv.org/pdf/1903.07918.pdf) 445 | #### 10. 2019-05-14-[Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph](http://sci-hub.tw/10.1007/978-981-13-7751-8_36) 优于LOAM的3D laser SLAM 446 | #### 9. 2019-05-09-[Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences](https://arxiv.org/pdf/1904.12433.pdf) 标定相机与三维激光雷达 447 | #### 8. 2019-05-09-[A Novel Dual-Lidar Calibration Algorithm Using Planar Surfaces](https://arxiv.org/pdf/1904.12116.pdf) 标定双激光雷达 448 | #### 7. 2019-05-09-[DeLiO: Decoupled LiDAR Odometry](https://arxiv.org/pdf/1904.12667.pdf) 把旋转和平移分开求解 449 | #### 6. 2019-04-23-[Tightly Coupled 3D Lidar Inertial Odometry and Mapping](https://arxiv.org/pdf/1904.06993.pdf)港科大lidar融合IMU建图 450 | #### 5. 2019-03-13-[Lidar-Monocular Visual Odometry with Genetic Algorithm for Parameter Optimization](https://arxiv.org/pdf/1903.02046.pdf)在线实时优化参数 451 | #### 4. 2019-03-13-[An Interactive LiDAR to Camera Calibration](https://arxiv.org/pdf/1903.02122.pdf) 雷达相机外参标定 452 | #### 3. 2019-03-13-[A Fuzzy-Innovation-Based Adaptive Kalman Filter for Enhanced Vehicle Positioning in Dense Urban Environments](file:///home/eason/Downloads/sensors-19-01142-v2.pdf) 453 | #### 2. 2019-01-25-[Sensor fusion for localization of automated vehicles](https://d-nb.info/1173898506/34) 德国Bonn大学自动驾驶多传感器融合博士论文 454 | #### 1. 2019-01-24-[Self-Driving Cars: A Survey](https://arxiv.org/pdf/1901.04407.pdf) 455 | 456 | ### Path Planning 457 | #### 15. 2019-12-31-[A Gridmap-Path Reshaping Algorithm for Path Planning](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8935229) 458 | #### 14. 2019-12-31-[Informative Path Planning for Active Mapping under Localization Uncertainty](https://pdfs.semanticscholar.org/76b5/cb8a3c1aad101ed905a546759a9ec12d0a11.pdf) 459 | #### 13. 2019-10-18-[Time-varying Pedestrian Flow Models for Service Robots](http://iliad-project.eu/wp-content/uploads/2019/08/ECMR_2019.pdf) 460 | #### 12. 2019-04-29-[Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps](https://www.researchgate.net/profile/Weiming_Zhi/publication/332550322_Continuous_Occupancy_Map_Fusion_with_Fast_Bayesian_Hilbert_Maps/links/5cbc7fc1299bf12097765677/Continuous-Occupancy-Map-Fusion-with-Fast-Bayesian-Hilbert-Maps.pdf) 461 | #### 11. 2019-04-26-[Deep Local Trajectory Replanning and Control for Robot Navigation](http://iliad.stanford.edu/pdfs/publications/pokle2019deep.pdf) 462 | #### 10. 2019-04-23-[A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots](https://journals.sagepub.com/doi/full/10.1177/0020294019836127) 463 | #### 9. 2019-04-19-[Confidence random tree-based algorithm for mobile robot path planning considering the path length and safety](http://scholar.google.com.hk/scholar_url?url=https://journals.sagepub.com/doi/pdf/10.1177/1729881419838179&hl=zh-CN&sa=X&d=10415875195647299755&scisig=AAGBfm2HyeooIJxniSvIoXqUnJVBbOgqrg&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:13322782094633563195:AAGBfm3BsU2dft4hdsGEGWT6jrVBOBGCUA) 464 | #### 8. 2019-04-19-[Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design](https://arxiv.org/pdf/1904.05728.pdf)更激进且安全的路径规划 465 | #### 7. 2019-04-15-[Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments](https://arxiv.org/pdf/1904.03421.pdf) 466 | #### 6. 2019-03-08-[Autonomous Robotic Exploration by Incremental Road Map Construction](http://eeyxsun.people.ust.hk/docs/TASE2019_autonomous.pdf)港中文港科大合作出品 467 | #### 5. 2019-02-18-[Efficient Autonomous Exploration Planning of Large Scale 3D-Environments](https://www.ida.liu.se/divisions/aiics/publications/RAL-2019-Efficient-Autonomous-Exploration.pdf). Frontier Exploration planning (FEP) 与 Receding Horizon Next-Best-View planning (RH-NBVP)方法融合做自主探索 468 | #### 4. 2019-02-15-[Motion Planning for Micro Aerial Vehicles](https://sci-hub.tw/http://search.proquest.com/openview/3ddcfedc312ef40732797bfbc416ed59/1?pq-origsite=gscholar&cbl=18750&diss=y)宾大liu sikang博士论文，导师Kumar 469 | #### 3. 2019-02-14-[A Novel GRU-RNN Network Model for Dynamic Path Planning of Mobile Robot](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8625490) 全名Gated Recurrent Unit-Recurrent Neural Network (GRU-RNN) 470 | #### 2. 2019-02-13-[Improving the Hybrid A* method for a non-holonomic wheeled robot](https://journals.sagepub.com/doi/full/10.1177/1729881419826857)增强混合A星算法 471 | #### 1. 2019-01-25-[Planning Algorithms for Multi-Robot Active Perception](http://scholar.google.com/scholar_url?url=https://ses.library.usyd.edu.au/bitstream/2123/19781/3/Graeme%2520Best%2520thesis.pdf&hl=zh-CN&sa=X&d=8591620865467554452&scisig=AAGBfm3-S44J8_MVtxhXZOgRqUDfvDig7g&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:7683124594916984709:AAGBfm07xRT6Xkv3-NQLydsk2iShtnUYcA) 悉尼大学多机器人主动感知路径规划 472 | 473 | ### Others. 474 | #### 10. 2019-07-26-[Dual Fisheye Camera Calibration](https://lukic.io/files/Dual_Fisheye_Camera_Calibration.pdf) 475 | #### 9. 2019-04-29-[MapperBot / iSCAN: Open-Source Integrated Robotic Platform and Algorithm for 2D Mapping](https://www.researchgate.net/profile/Akram_Al-Hourani/publication/332413257_MapperBot_iSCAN_Open-Source_Integrated_Robotic_Platform_and_Algorithm_for_2D_Mapping/links/5cb3fc5a4585156cd7992888/MapperBot-iSCAN-Open-Source-Integrated-Robotic-Platform-and-Algorithm-for-2D-Mapping.pdf) 476 | #### 8. 2019-04-29-[Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation*](https://arxiv.org/pdf/1904.09251.pdf) 477 | #### 7. 2019-04-19-[An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Mapping](https://www.mdpi.com/1424-8220/19/7/1742/pdf) 478 | #### 6. 2019-03-25-[Distributed Kalman-filtering: Distributed optimization viewpoint](https://arxiv.org/pdf/1903.07807.pdf) 479 | #### 5. 2018-03-08-[UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2019)](https://natanaso.github.io/ece276a/schedule.html) UC 圣地亚哥大学机器人感知运动估计课程 480 | #### 4. 2018-02-25-[Robust Harris Detector Corresponding and Calculates the Projection Error Using the Modification of the Weighting Function](http://www.ijmlc.org/vol9/766-M025.pdf)多层权重函数增强本质矩阵计算准确度 481 | #### 3. 2019-02-25-[MC2SLAM: Real-Time Inertial Lidar Odometry Using Two-Scan Motion Compensation](https://sci-hub.tw/10.1007/978-3-030-12939-2_5) 激光IMU紧耦合方案，声称KITTI数据集top5，且放出了数据集。 482 | #### 2. 2019-02-18-[GPS/LiDAR Sensor Fusion Integrity: A Top-Down Approach](http://gracegao.ae.illinois.edu/publications/journal/2018_Navigation_GPSLidar%20integrity_Ashwin%20Kanhere.pdf) GPS 激光融合 483 | #### 1. 2019-01-25-[Ultra-wideband-based Navigation for Unmanned Aerial Vehicles](http://scholar.google.com.hk/scholar_url?url=https://dr.ntu.edu.sg/bitstream/handle/10220/47471/THESIS_GUO%2520KEXIN_G1400180L.pdf%3Fsequence%3D1&hl=zh-CN&sa=X&d=7665655280644322246&scisig=AAGBfm0njtXltv-cbMLcxfW5K85Ixk-XSg&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:8091854961068759592:AAGBfm2trGFRZKGhbBitzOqs-u-1ftqAhA) 南洋理工UWB定位博士论文 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | -------------------------------------------------------------------------------- /SLAM_Research_2020.md: -------------------------------------------------------------------------------- 1 | 2 | # Recent_SLAM_Research_2020 3 | 【回馈社区】跟踪SLAM前沿动态[2019](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2019.md), [2018版](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2018.md) .去年大概收录了500篇关于SLAM的论文，因为本人在企业重点研究的是VSLAM以及多传感器融合，所以并没有把全部论文精读，难免有漏的或者差的。今年重点是求精以及做好分类，继续做好本圈儿的服务工作。 4 | 欢迎在Issues里发布招聘信息。 5 | ### ------------ ICRA 2020 6 | #### OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-Baseline Multi-Camera Systems 7 | #### Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms 8 | #### Spatio-Temporal Non-Rigid Registration of 3D Point Clouds of Plants 9 | #### Uncertainty-Based Adaptive Sensor Fusion for Visual-Inertial Odometry under Various Motion Characteristics 10 | #### Loam_livox: A Fast, Robust, High-Precision LiDAR Odometry and Mapping Package for LiDARs of Small FoV 11 | #### Active SLAM Using 3D Submap Saliency for Underwater Volumetric Exploration 12 | #### Are We Ready for Service Robots? the OpenLORIS-Scene Datasets for Lifelong SLAM 13 | #### Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection 14 | #### TextSLAM: Visual SLAM with Planar Text Features 15 | #### FlowNorm: A Learning-Based Method for Increasing Convergence Range of Direct Alignment 16 | #### Redesigning SLAM for Arbitrary Multi-Camera Systems 17 | #### Dynamic SLAM: The Need for Speed 18 | #### GradSLAM: Dense SLAM Meets Automatic Differentiation 19 | #### Long-Term Place Recognition through Worst-Case Graph Matching to Integrate Landmark Appearances and Spatial Relationships 20 | #### Linear RGB-D SLAM for Atlanta World 21 | #### Stereo Visual Inertial Odometry with Online Baseline Calibration 22 | #### Lidar-Monocular Visual Odometry Using Point and Line Features 23 | #### Probabilistic Data Association Via Mixture Models for Robust Semantic SLAM 24 | #### Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy 25 | #### Metrically-Scaled Monocular SLAM Using Learned Scale Factors 26 | #### Inertial-Only Optimization for Visual-Inertial Initialization 27 | #### Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM 28 | #### Keypoint Description by Descriptor Fusion Using Autoencoders 29 | #### Towards Noise Resilient SLAM 30 | #### LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments 31 | #### Modeling Semi-Static Scenes with Persistence Filtering in Visual SLAM 32 | #### Broadcast Your Weaknesses: Cooperative Active Pose-Graph SLAM for Multiple Robots 33 | #### FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow 34 | #### Efficient Algorithms for Maximum Consensus Robust Fitting (I) 35 | #### MulRan: Multimodal Range Dataset for Urban Place Recognition 36 | #### GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization 37 | #### Large-Scale Volumetric Scene Reconstruction Using LiDAR 38 | #### Topological Mapping for Manhattan-Like Repetitive Environments 39 | #### Structure-Aware COP-SLAM 40 | #### Robust RGB-D Camera Tracking Using Optimal Key-Frame Selection 41 | #### Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps 42 | #### DeepFactors: Real-Time Probabilistic Dense Monocular SLAM 43 | #### DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams 44 | #### Windowed Bundle Adjustment Framework for Unsupervised Learning of Monocular Depth Estimation with U-Net Extension and Clip Loss 45 | #### StructVIO : Visual-Inertial Odometry with Structural Regularity of Man-Made Environments (I) 46 | #### Flow-Motion and Depth Network for Monocular Stereo and Beyond 47 | #### Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure 48 | #### Hybrid Camera Pose Estimation with Online Partitioning for SLAM 49 | #### Analysis of Minima for Geodesic and Chordal Cost for a Minimal 2D Pose-Graph SLAM Problem 50 | #### Voxel Map for Visual SLAM 51 | #### LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes 52 | #### ROI-Cloud: A Key Region Extraction Method for LiDAR Odometry and Localization 53 | #### To Learn or Not to Learn: Visual Localization from Essential Matrices 54 | #### Hierarchical Multi-Process Fusion for Visual Place Recognition 55 | #### Camera Tracking in Lighting Adaptable Maps of Indoor Environments 56 | #### Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-Based Matching of Overloaded Representations 57 | #### Vision-Based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter 58 | #### UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes 59 | #### Map As the Hidden Sensor: Fast Odometry-Based Global Localization 60 | #### Joint Human Pose Estimation and Stereo 3D Localization 61 | #### Self-Supervised Deep Pose Corrections for Robust Visual Odometry 62 | #### Ultra-High-Accuracy Visual Marker for Indoor Precise Positioning 63 | #### Accurate Position Tracking with a Single UWB Anchor 64 | #### Association-Free Multilateration Based on Times of Arrival 65 | #### Adversarial Feature Disentanglement for Place Recognition across Changing Appearance 66 | #### A Fast and Accurate Solution for Pose Estimation from 3D Correspondences 67 | #### Ground Texture Based Localization Using Compact Binary Descriptors 68 | #### Reliable Data Association for Feature-Based Vehicle Localization Using Geometric Hashing Methods 69 | #### Vehicle Localization Based on Visual Lane Marking and Topological Map Matching 70 | #### RISE: A Novel Indoor Visual Place Recogniser 71 | #### Beyond Photometric Consistency: Gradient-Based Dissimilarity for Improving Visual Odometry and Stereo Matching 72 | #### ICS: Incremental Constrained Smoothing for State Estimation 73 | #### Drone-Aided Localization in LoRa IoT Networks 74 | #### A Fast and Practical Method of Indoor Localization for Resource-Constrained Devices with Limited Sensing 75 | #### GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization 76 | #### A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3) 77 | #### Estimation with Fast Feature Selection in Robot Visual Navigation 78 | #### A Tightly Coupled VLC-Inertial Localization System by EKF 79 | #### Localization of Inspection Device Along Belt Conveyors with Multiple Branches Using Deep Neural Networks 80 | #### Localising PMDs through CNN Based Perception of Urban Streets 81 | #### The Complex-Step Derivative Approximation on Matrix Lie Groups 82 | #### Hybrid Localization Using Model and Learning-Based Methods: Fusion of Monte Carlo and E2E Localizations Via Importance Sampling 83 | #### Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions 84 | #### Quantifying Robot Localization Safety: A New Integrity Monitoring Method for Fixed-Lag Smoothing 85 | #### Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs 86 | #### Relax and Recover: Guaranteed Range-Only Continuous Localization 87 | #### SPRINT: Subgraph Place Recognition for Intelligent Transportation 88 | #### OneShot Global Localization: Instant LiDAR-Visual Pose Estimation 89 | #### Relocalization on Submaps: Multi-Session Mapping for Planetary Rovers Equipped with Stereo Cameras 90 | #### DeepTIO: A Deep Thermal-Inertial Odometry with Visual Hallucination 91 | #### RSL-Net: Localising in Satellite Images from a Radar on the Ground 92 | #### Kidnapped Radar: Topological Radar Localisation Using Rotationally-Invariant Metric Learning 93 | #### Global Visual Localization in LiDAR-Maps through Shared 2D-3D Embedding Space 94 | #### Unsupervised Learning Methods for Visual Place Recognition in Discretely and Continuously Changing Environments 95 | #### LOL: Lidar-Only Odometry and Localization in 3D Point Cloud Maps 96 | #### Localising Faster: Efficient and Precise Lidar-Based Robot Localisation in Large-Scale Environments 97 | #### LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery 98 | #### Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach 99 | #### Gated Recurrent Fusion to Learn Driving Behaviour from Temporal Multimodal Data 100 | #### Cooperative Visual-Inertial Odometry: Analysis of Singularities, Degeneracies and Minimal Cases 101 | #### A Lightweight and Accurate Localization Algorithm Using Multiple Inertial Measurement Units 102 | #### Accelerating the Estimation of Metabolic Cost Using Signal Derivatives: Implications for Optimization and Evaluation of 103 | #### Deep Depth Fusion for Black, Transparent, Reflective and Texture-Less Objects 104 | #### LiDAR-Enhanced Structure-From-Motion 105 | #### Low Latency and Low-Level Sensor Fusion for Automotive Use-Cases 106 | #### Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach 107 | #### Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait Analysis 108 | #### Gaussian Process Preintegration for Inertial-Aided State Estimation 109 | #### A Code for Unscented Kalman Filtering on Manifolds (UKF-M) 110 | #### Efficient and Precise Sensor Fusion for Non-Linear Systems with Out-Of-Sequence Measurements by Example of Mobile Robotics 111 | #### UNO: Uncertainty-Aware Noisy-Or Multimodal Fusion for Unanticipated Input Degradation 112 | #### Intermittent GPS-Aided VIO: Online Initialization and Calibration 113 | #### A Mathematical Framework for IMU Error Propagation with Applications to Preintegration 114 | #### Radar-Inertial Ego-Velocity Estimation for Visually DegradedEnvironments 115 | #### Observability Analysis of Flight State Estimation for UAVs and Experimental Validation 116 | #### OpenVINS: A Research Platform for Visual-Inertial Estimation 117 | #### Decentralized Collaborative State Estimation for Aided Inertial Navigation 118 | #### Analytic Combined IMU Integration (ACI^2) for Visual Inertial Navigation 119 | #### Second-Order Kinematics for Floating-Base Robots Using the Redundant Acceleration Feedback of an Artificial Sensory Skin 120 | #### Clock-Based Time Synchronization for an Event-Based Camera Dataset Acquisition Platform 121 | #### Set-Membership State Estimation by Solving Data Association 122 | #### SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory 123 | #### Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties 124 | #### AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM 125 | #### Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR 126 | #### A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation 127 | #### Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP 128 | #### Geometric Robot Dynamic Identification: A Convex Programming Approach (I) 129 | #### A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images 130 | #### Online Camera-LiDAR Calibration with Sensor Semantic Information 131 | #### Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-Shape Wafers 132 | #### Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick 133 | #### Online Calibration of Exterior Orientations of a Vehicle-Mounted Surround-View Camera System 134 | #### Learning Camera Miscalibration Detection 135 | #### Exploring Performance Bounds of Visual Place Recognition Using Extended Precision 136 | #### Deep Reinforcement Learning for Instruction Following Visual Navigation in 3D Maze-Like Environments 137 | #### Aggressive Perception-Aware Navigation Using Deep Optical Flow Dynamics and PixelMPC 138 | #### Visual-Inertial Mapping with Non-Linear Factor Recovery 139 | #### Interactive Gibson Benchmark: A Benchmark for Interactive Navigation in Cluttered Environments 140 | #### Highly Robust Visual Place Recognition through Spatial Matching of CNN Features 141 | #### Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry 142 | #### Robust Vision-Based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments 143 | #### Proximity Estimation Using Vision Features Computed on Sensor 144 | #### Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles 145 | #### EgoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands 146 | #### Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection 147 | #### Reliable Frame-To-Frame Motion Estimation for Vehicle-Mounted Surround-View Camera Systems 148 | #### Enabling Topological Planning with Monocular Vision 149 | #### DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network 150 | #### SnapNav: Learning Mapless Visual Navigationwith Sparse Directional Guidance and Visual Reference 151 | #### Kimera: An Open-Source Library for Real-Time Metric-Semantic Localization and Mapping 152 | #### CityLearn: Diverse Real-World Environments for Sample-Efficient Navigation Policy Learning 153 | #### Constrained Filtering-Based Fusion of Images, Events, and Inertial Measurements for Pose Estimation 154 | #### Schmidt-EKF-Based Visual-Inertial Moving Object Tracking 155 | #### Learning View and Target Invariant Visual Servoing for Navigation 156 | #### Tightly-Coupled Single-Anchor Ultra-Wideband-Aided Monocular Visual Odometry System 157 | #### Scaling Local Control to Large-Scale Topological Navigation 158 | #### Zero-Shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation 159 | #### Test Your SLAM! the SubT-Tunnel Dataset and Metric for Mapping 160 | #### YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation 161 | #### A Unified Framework for Piecewise Semantic Reconstruction in Dynamic Scenes Via Exploiting Superpixel Relations 162 | #### Keyframe-Based Dense Mapping with the Graph of View-Dependent Local Maps 163 | #### Informative Path Planning for Active Mapping under Localization Uncertainty 164 | #### Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data 165 | #### Robust Method for Removing Dynamic Objects from Point Clouds 166 | #### Skeleton-Based Conditionally Independent Gaussian Process Implicit Surfaces for Fusion in Sparse to Dense 3D Reconstruction 167 | #### Motion Estimation in Occupancy Grid Maps in Stationary Settings Using Recurrent Neural Networks 168 | #### A Divide and Conquer Method for 3D Registration of Inhomogeneous, Partially Overlapping Scans with Fourier Mellin SOFT (FMS) 169 | #### Estimating Motion Uncertainty with Bayesian ICP 170 | #### Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot 171 | #### Efficient Covisibility-Based Image Matching for Large-Scale SfM 172 | #### Probabilistic TSDF Fusion Using Bayesian Deep Learning for Dense 3D Reconstruction with a Single RGB Camera 173 | #### A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction 174 | #### Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas 175 | #### A Hierarchical Framework for Collaborative Probabilistic Semantic Mapping 176 | #### Autonomous Navigation in Unknown Environments Using Sparse Kernel-Based Occupancy Mapping 177 | #### Hybrid Topological and 3D Dense Mapping through Autonomous Exploration for Large Indoor Environments 178 | #### Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints 179 | #### Moving Object Detection for Visual Odometry in a Dynamic Environment Based on Occlusion Accumulation 180 | ### ------------ ICRA 2020 终止线 ---------- 181 | 182 | ### ------------ CVPR 2020 183 | ### ------------ CVPR 2020 终止线 ---------- 184 | ### ------------ ECCV 2020 185 | ### ------------ ECCV 2020 终止线 ---------- 186 | ### ------------ IROS 2020 187 | ### ------------ IROS 2020 终止线 ---------- 188 | ### ------------ ICCV 2020 189 | ### ------------ ICCV 2020 终止线 ---------- 190 | 191 | ### SLAM 192 | #### 1. [Semantic SLAM] 2020-01-13-[Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment](https://arxiv.org/pdf/2001.01028.pdf) Only label the point clouds with semantic segmentation info, no improvement in accuarcy. [code](https://github.com/1989Ryan/Semantic_SLAM/) 193 | #### 2. [Calibration] 2020-01-13-[A Generalized Framework for Autonomous Calibration of Wheeled Mobile Robots](https://arxiv.org/pdf/2001.01555.pdf) 194 | #### 3. [VSLAM] 2020-01-13-[Trained Trajectory based Automated Parking System using Visual SLAM](https://arxiv.org/pdf/2001.02161.pdf) 195 | #### 4. [Deep SLAM] 2020-01-13-[AD-VO: SCALE-RESILIENT VISUAL ODOMETRY USING ATTENTIVE DISPARITY MAP](https://arxiv.org/pdf/2001.02090.pdf) Learned based frame to frame VO with the input as disparity map. 196 | #### 5. [Lidar Deep SLAM] 2020-01-13-[CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description](https://arxiv.org/pdf/2001.01354.pdf) Auto-Encoder based LiDAR Odometry (CAE-LO) that detects interest points from spherical ring data using 2D CAE and extracts features from multi-resolution voxel model using 3D CAE. [code](https://github.com/SRainGit/CAE-LO) 197 | #### 6. [VSLAM] 2020-01-13-[Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency](https://arxiv.org/pdf/2001.00714.pdf) Introduction of an efficient good feature selection algorithm using the Max-logDet metric, which is an order of magnitude faster than state-of-the-art feature selection approaches. [code](https://github.com/ivalab/GF_ORB_SLAM) 198 | #### 7. [VSLAM] 2020-01-13-[Direct Sparse Visual-Inertial Odometry with Stereo Cameras](https://candyguo.github.io/files/1.pdf) Quantitative evaluation demonstrates that the proposed Stereo VI-DSO is superior to Stereo DSO both in terms of tracking accuracy and robustness. But the result is worse than VINS. 199 | #### 8. [VSLAM] 2020-01-14-[Accurate Line Reconstruction for Point and Line-Based Stereo Visual Odometry](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8936964) 200 | #### 9. [VSLAM] 2020-01-14-[A Stereo Visual-Inertial SLAM Approach for Indoor Mobile Robots in Unknown Environments Without Occlusions](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8937551) Use one-circle feature-matching method, which refers to a sequence of the circle matching for the time after space (STCM), and an STCM-based visual-inertial simultaneous localization and mapping (STCM-SLAM) technique. 201 | #### 10. [Lidar Seg] 2020-01-14-[Multi-Scale Point-Wise Convolutional Neural Networks for 3D Object Segmentation From LiDAR Point Clouds in Large-Scale Environments](https://ieeexplore.ieee.org/abstract/document/8943956/authors#authors) 202 | #### 11. [Review] 2020-01-14-[Multi-Sensor Fusion in Automated Driving: A Survey](https://sci-hub.tw/10.1109/ACCESS.2019.2962554) 203 | #### 12. [Lidar Deep SLAM] 2020-01-14-[SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory](https://arxiv.org/pdf/1912.12726.pdf) 204 | #### 13. [Deep SLAM] 2020-01-22-[Learning Topometric Semantic Maps from Occupancy Grids](https://arxiv.org/pdf/2001.03676.pdf) 2D laser semantic map. 205 | #### 14. [VSLAM] 2020-01-22-[Temporal Delay Estimation of Sparse Direct Visual Inertial Odometry for Mobile Robots](https://sci-hub.tw/https://doi.org/10.1016/j.jfranklin.2019.11.075) Calibrate the time offset between IMU and Camera. 206 | #### 15. [IMU] 2020-02-06-[A Lightweight and Accurate Localization Algorithm Using Multiple Inertial Measurement Units](https://sci-hub.tw/10.1109/LRA.2020.2969146) The overall performance of SLAM can be further improved by using multiple IMUs. 207 | #### 16. [Lidar SLAM] 2020-02-10-[Localization of Map Changes by Exploiting SLAM Residuals](https://link.springer.com/chapter/10.1007/978-3-030-40605-9_27) identify changes in maps constructed by SLAM. 208 | #### 17. [VSLAM] 2020-02-10-[Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM](https://arxiv.org/pdf/2002.00195.pdf) not only solves the problem of the unobservability of accelerometer bias and extrinsic parameters before the first turning, but also results in more accurate trajectories in comparison with the state-of-the-art approaches. 209 | #### 18. [EKF] 2020-02-10-[A Code for Unscented Kalman Filtering on Manifolds (UKF-M)](https://arxiv.org/pdf/2002.00878.pdf) a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends our previous work about UKF on Lie groups. 210 | #### 19. [New sensor] 2020-02-10-[Corners positioning for binocular ultra-wide angle long-wave infrared camera calibration](https://www.sciencedirect.com/science/article/abs/pii/S0030402619313397) calibrating binocular ultra-wide angle long-wave infrared camera. 211 | #### 20. [VSLAM] 2020-02-12-[Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping](https://arxiv.org/pdf/1910.02490.pdf) VIO + Dense mapping + Semantic 212 | #### 21. [Semantic] 2020-02-12-[Edge Assisted Mobile Semantic Visual SLAM](http://tns.thss.tsinghua.edu.cn/~jingao/papers/infocom20_edgeSLAM.pdf) edgeSLAM leverages the state-of-the-art semantic segmentation algorithm to enhance localization and mapping accuracy, and speeds up the computation-intensive SLAM and semantic segmentation algorithms by computation offloading. 213 | #### 22. [lidar SLAM] 2020-02-12-[Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure](https://arxiv.org/pdf/2001.10249.pdf)In this paper, we present a factor-graph LiDARSLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. 214 | #### 23. [Semantic] 2020-02-14-[Tightly Coupled Semantic RGB-D Inertial Odometry for Accurate Long-Term Localization and Mapping](https://ieeexplore.ieee.org/abstract/document/8981658) utilize semantically enhanced feature matching and visual inertial bundle adjustment to improve the robustness of odometry especially in feature-sparse environments. 215 | #### 24. [VIO] 2020-02-14-[Visual-Inertial Ego-Motion Estimation using Rolling-Shutter Camera in autonomous driving](https://pdfs.semanticscholar.org/3c90/940d1572789aa6459e443bede87fdfcb8b86.pdf) interpolate the IMU pose between consecutive poses and set up a novel feature measurement error model to cover the time delay issues. 216 | #### 25. [VIO] 2020-02-14-[EIP-VIO: Edge-Induced Points Based Monocular Visual-Inertial Odometry](https://ieeexplore.ieee.org/abstract/document/8982582) propose an improved and practical monocular visual-inertial odometry method based on selective edge points. 217 | #### 26. [Event camera] 2020-02-14-[Sepia, Tarsier, and Chameleon: A Modular C++ Framework for Event-Based Computer Vision](https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6960268/) A framework to process Event camera. [code]( https://github.com/neuromorphic-paris/tutorials) 218 | #### 27. [Multimodal localization] 2020-02-14-[Multimodal localization: Stereo over LiDAR map](https://sci-hub.tw/https://doi.org/10.1002/rob.21936) Visual localization in lidar map. 219 | #### 28. [2D SLAM] 2020-02-15-[x A Triangle Feature Based Map-to-map Matching and Loop Closure for 2D Graph SLAM](https://sci-hub.tw/10.1109/ROBIO49542.2019.8961777) We propose a geometric environment descriptor called a Triangle Feature (TF). It exploits the Euclidean distance constraint any three feature points in a submap can form. 220 | #### 29. [Doctor paper] 2020-02-15-[Enabling Robust State Estimation through Covariance Adaptation ](https://www.researchgate.net/profile/Ryan_Watson7/publication/338595333_Enabling_Robust_State_Estimation_through_Covariance_Adaptation/links/5e1ec497299bf136303af241/Enabling-Robust-State-Estimation-through-Covariance-Adaptation.pdf) 221 | #### 30. [Multirobots] 2020-02-15-[Statistical Outlier Identification in Multi-robot Visual SLAM using Expectation Maximization](https://arxiv.org/pdf/2002.02638.pdf) This paper presents a probabilistic approach for detecting incorrect orientation measurements prior to pose graph optimization by checking the geometric consistency of rotation measurements. 222 | #### 31. [Math] 2020-02-15-[New approach to calculating the fundamental matrix](https://search.proquest.com/openview/7a8ffa8ef7031b50a8b9b2a7fe041f6b/1?pq-origsite=gscholar&cbl=1686344) 223 | #### 32. [Math] 2020-02-16-[IMPROVING THE APPLICABILITY OF VISUAL SLAM WITH SUBMODULAR SUBMATRIX SELECTION](https://smartech.gatech.edu/bitstream/handle/1853/62276/ZHAO-DISSERTATION-2019.pdf) 224 | #### 33. [VSLAM] 2020-02-16-[DeepFactors: Real-Time Probabilistic Dense Monocular SLAM](https://arxiv.org/pdf/2001.05049.pdf) use of a learned compact depth map representation and reformulating three different types of errors: photometric, reprojection and geometric, which we make use of within standard factor graph software. [code](https://github.com/jczarnowski/DeepFactors) 225 | #### 34. [VSLAM] 2020-02-16-[Direct Visual-Inertial Ego-Motion Estimationv via Iterated Extended Kalman Filter](https://arxiv.org/pdf/2001.05215.pdf) 226 | #### 35. [VSLAM] 2020-02-16-[Multi-object Monocular SLAM for Dynamic Environments](https://arxiv.org/pdf/2002.03528.pdf) 227 | #### 36. [LOOP] 2020-02-16-[Hierarchical Multi-Process Fusion for Visual Place Recognition](https://arxiv.org/pdf/2002.03895.pdf) 228 | #### 37. [2D LSLAM] 2020-02-21-[GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction](https://sci-hub.tw/https://doi.org/10.1007/s10514-020-09906-z) 229 | #### 38. [RGBD SLAM] 2020-02-21-[Accurate and Robust RGB-D Dense Mapping with Inertial Fusion and Deformation-Graph Optimization](https://ieeexplore.ieee.org/abstract/document/8995400/authors#authors) 230 | #### 39. [VSLAM] 2020-03-02-[Dynamic SLAM: The Need For Speed](https://arxiv.org/pdf/2002.08584.pdf)feature-based, model-free, object-aware dynamic SLAM algorithm that exploits semantic segmentation to allow estimation of motion of rigid objects in a scene without the need to estimate the object poses or have any prior knowledge of their 3D models. 231 | #### 40. [VSLAM] 2020-03-04-[Monocular Direct Sparse Localization in a Prior 3D Surfel Map](https://arxiv.org/pdf/2002.09923.pdf) tracking the pose of a monocular camera in a prior surfel map. 232 | #### 41. [Semantic slam] 2020-03-04-[Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM](https://arxiv.org/pdf/2002.10342.pdf) 233 | #### 42. [Math] 2020-03-04-[Least Squares Optimization: from Theory to Practice](https://arxiv.org/pdf/2002.11051.pdf) a unified methodology to design and develop efficient Least-Squares Optimization algorithms, focusing on the structures and patterns of each specific domain.[code](https://github.com/srrg-sapienza/srrg2_solver) 234 | #### 43. [RGBD] 2020-03-04-[Perception in the Dark—Development of a ToF Visual Inertial Odometry System](https://www.mdpi.com/1424-8220/20/5/1263) [code](https://github.com/HKPolyU-UAV/TOF-VIO) 235 | #### 44. [Event Camera] 2020-03-04-[Robust Feature Tracking in DVS Event Stream using Bezier Mapping](http://openaccess.thecvf.com/content_WACV_2020/papers/Seok_Robust_Feature_Tracking_in_DVS_Event_Stream_using_Bezier_Mapping_WACV_2020_paper.pdf) 236 | #### 45. [Deep SLAM] 2020-03-05-[Self-Supervised Deep Pose Corrections for Robust Visual Odometry](https://arxiv.org/pdf/2002.12339.pdf) uses data-driven learning to regress pose corrections that account for systematic errors due to violations of modelling assumptions. [code](https://github.com/utiasSTARS/ss-dpc-net) 237 | #### 46. [Doctor thesis] 2020-03-05-[Custom hardware architectures for embedded high-performance and low-power SLAM](https://spiral.imperial.ac.uk/bitstream/10044/1/76491/1/Boikos-K-2019-PhD-Thesis.pdf) 238 | #### 47. [VSLAM] 2020-03-05-[Visual Camera Re-Localization from RGB and RGB-D Images Using DSAC](https://arxiv.org/pdf/2002.12324.pdf) 239 | #### 48. [Deep SLAM] 2020-03-09-[D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry](https://arxiv.org/pdf/2003.01060.pdf) 240 | #### 49. [VSLAM] 2020-03-09-[Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy](https://arxiv.org/pdf/2003.01317.pdf) 241 | #### 50. [Deep SLAM] 2020-03-09-[MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation](https://arxiv.org/pdf/2003.00667.pdf) 242 | #### 51. [LOOP] 2020-03-09-[Augmenting Visual Place Recognition with Structural Cues](https://arxiv.org/pdf/2003.00278.pdf) 243 | #### 52. [VSLAM] 2020-03-09-[Robust tightly coupled pose estimation based on monocular vision, inertia, and wheel speed](https://arxiv.org/pdf/2003.01496.pdf) 244 | #### 53. [VSLAM] 2020-03-09-[Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use](https://arxiv.org/pdf/2003.00754.pdf) [code](https://github.com/srrg-sapienza/srrg2_slam_interfaces) 245 | #### 54. [VSLAM] 2020-03-09-[MiniVO: Minimalistic Range Enhanced Monocular System for Scale Correct Pose Estimation](https://www.researchgate.net/publication/339629457_MiniVO_Minimalistic_Range_Enhanced_Monocular_System_for_Scale_Correct_Pose_Estimation) [code](https://gitlab.com/Giubilato/alti-cam-calib) 246 | #### 55. [VSLAM] 2020-03-09-[Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas](https://www.preprints.org/manuscript/202003.0018/v1) 247 | #### 56. [VSLAM] 2020-03-16-[StereoNeuroBayesSLAM: A Neurobiologically Inspired Stereo Visual SLAM System Based on Direct Sparse Method](https://arxiv.org/pdf/2003.03091.pdf) 248 | #### 57. [Math] 2020-03-16-[Bundle Adjustment on a Graph Processor](https://arxiv.org/pdf/2003.03134.pdf) 249 | #### 58. [VSLAM] 2020-03-16-[Voxel Map for Visual SLAM](https://arxiv.org/pdf/2003.02247.pdf) 250 | #### 59. [LSLAM] 2020-03-16-[LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes](https://songshiyu01.github.io/pdf/LIO_W.Ding_S.Song_ICRA2020.pdf) 251 | #### 60. [VSLAM] 2020-03-16-[Redesigning SLAM for Arbitrary Multi-Camera Systems](https://arxiv.org/pdf/2003.02014.pdf) 252 | #### 61. [VSLAM] 2020-03-19-[DymSLAM:4D Dynamic Scene Reconstruction Based on Geometrical Motion Segmentation](https://arxiv.org/pdf/2003.04569.pdf) 253 | #### 62. [LSALM] 2020-03-19-[Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry](https://arxiv.org/pdf/2003.04159.pdf) 254 | #### 63. [VSLAM] 2020-03-19-[FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow](https://arxiv.org/pdf/2003.05102.pdf) 255 | #### 64. [VSLAM] 2020-03-19-[Inertial-Only Optimization for Visual-Inertial Initialization](https://arxiv.org/pdf/2003.05766.pdf) 256 | #### 65. [VSLAM] 2020-03-19-[Extrinsic Calibration of Multiple RGB-D Cameras Based on Descriptor-based Patterns](https://arxiv.org/pdf/1807.07856v2.pdf) 257 | #### 66. [VSLAM] 2020-03-19-[SD-VIS: A Fast and Accurate Semi-Direct Monocular Visual-Inertial Simultaneous Localization and Mapping (SLAM)](https://www.mdpi.com/1424-8220/20/5/1511/htm) 258 | #### 67. [Calibration] 2020-03-19-[A fast calibration approach for onboard LiDAR-camera systems](https://journals.sagepub.com/doi/pdf/10.1177/1729881420909606) 259 | #### 68. [Edge SLAM] 2020-03-24-[Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association](https://www.researchgate.net/publication/336056167_Robust_Monocular_Edge_Visual_Odometry_through_Coarse-to-Fine_Data_Association?_esc=publicationCoverPdf&el=1_x_3&enrichId=rgreq-82bc69ebf992513f26edb9e73f9e23eb-XXX&enrichSource=Y292ZXJQYWdlOzMzNjA1NjE2NztBUzo4Njk4NTc1Mjg2NTU4NzJAMTU4NDQwMTYwNDEyNQ%3D%3D) 260 | #### 69. [Math] 2020-03-24-[Learning 2D–3D Correspondences To Solve The Blind Perspective-n-Point Problem](https://arxiv.org/pdf/2003.06752.pdf) 261 | #### 70. [LSLAM] 2020-03-24-[An Experimental Evaluation of Robustness and Precision for Long-term LiDAR-based Localization in Highly Changing Environments](https://arxiv.org/pdf/2003.07726.pdf) 262 | #### 71. [AR] 2020-03-24-[A novel augmented reality framework based on monocular semi-dense simultaneous localization and mapping](https://sci-hub.tw/https://doi.org/10.1002/cav.1922) 263 | #### 72. [VSLAM] 2020-04-03-[OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-baseline Multi-camera Systems](https://arxiv.org/pdf/2003.08056.pdf) 264 | #### 73. [VSLAM] 2020-04-03-[Monocular Visual–Inertial SLAM Algorithm Combined with Wheel Speed Anomaly Detection](https://arxiv.org/pdf/2003.09901.pdf) 265 | #### 74. [VSLAM] 2020-04-07-[Removing Dynamic Objects for Static Scene Reconstruction using Light Fields](https://arxiv.org/pdf/2003.11076.pdf) 266 | #### 75. [VSLAM] 2020-04-07-[Multi-camera visual SLAM for off-road navigation](https://www.sciencedirect.com/science/article/pii/S0921889019308711) 267 | #### 76. [VSLAM] 2020-04-07-[Long-Term Loop Closure Detection through Visual-Spatial Information Preserving Multi-Order Graph Matching](https://www.aaai.org/Papers/AAAI/2020GB/AAAI-GaoP.6907.pdf) 268 | #### 77. [VSLAM] 2020-04-13-[Coupling of localization and depth data for mapping using Intel RealSense T265 and D435i cameras](https://arxiv.org/pdf/2004.00269.pdf) 269 | #### 78. [Calibration] 2020-04-13-[On-the-Fly Camera and Lidar Calibration](https://www.mdpi.com/2072-4292/12/7/1137/pdf) 270 | #### 79. [Event Camera] 2020-04-13-[Single Image Optical Flow Estimation with an Event Camera](https://arxiv.org/pdf/2004.00347.pdf) 271 | #### 80. [VSLAM] 2020-04-13-[Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences](https://arxiv.org/pdf/2004.00740.pdf) [code](https://github.com/levenberg/2D-3D-pose-tracking) 272 | #### 81. [Fusion] 2020-04-13-[Scene-Aware Error Modeling of LiDAR/Visual Odometry for Fusion-based Vehicle Localization](https://arxiv.org/pdf/2003.13109.pdf) 273 | #### 82. [Dataset] 2020-04-13-[TartanAir: A Dataset to Push the Limits of Visual SLAM](https://arxiv.org/pdf/2003.14338.pdf) 274 | #### 83. [VSLAM] 2020-04-13-[ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings](https://arxiv.org/pdf/2003.12980.pdf) 275 | #### 84. [DeepSLAM] 2020-04-13-[DeepSLAM: A Robust Monocular SLAM System with Unsupervised Deep Learning](https://ieeexplore.ieee.org/abstract/document/9047170) 276 | #### 85. [Fusion] 2020-04-13-[Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry](https://arxiv.org/pdf/2003.04159.pdf) 277 | #### 86. [GPU] 2020-04-13-[Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO](https://arxiv.org/pdf/2003.13493.pdf) [code](https://github.com/uzh-rpg/vilib) 278 | #### 87. [Descriptor] 2020-04-27-[BEBLID: Boosted Efficient Binary Local Image Descriptor](https://sci-hub.tw/https://doi.org/10.1016/j.patrec.2020.04.005) [code](https://github.com/iago-suarez/BEBLID) 279 | #### 88. [Doctor thesis] 2020-04-27-[Robust Visual SLAM in Challenging Environments with low-texture and Dynamic Illumination](https://riuma.uma.es/xmlui/bitstream/handle/10630/19479/TD_GOMEZ_OJEDA_Ruben.pdf?sequence=1&isAllowed=y) 280 | #### 89. [LSLAM] 2020-04-27-[CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description](https://arxiv.org/pdf/2001.01354.pdf) [code](https://github.com/SRainGit/CAE-LO) 281 | #### 90. [VSLAM] 2020-04-27-[Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments](https://arxiv.org/pdf/2004.05303.pdf) 282 | #### 91. [VSLAM] 2020-04-27-[Online Initialization and Extrinsic Spatial-Temporal Calibration for Monocular Visual-Inertial Odometry](https://arxiv.org/pdf/2004.05534.pdf) 283 | #### 92. [VSLAM] 2020-04-27-[Latency Compensated Visual-Inertial Odometry for Agile Autonomous Flight](https://www.researchgate.net/publication/340650710_Latency_Compensated_Visual-Inertial_Odometry_for_Agile_Autonomous_Flight) 284 | #### 93. [Descriptor] 2020-04-27-[Visual Descriptor Learning from Monocular Video](https://arxiv.org/pdf/2004.07007.pdf) 285 | #### 94. [radar slam] 2020-05-19-[RadarSLAM: Radar based Large-Scale SLAM in All Weathers](https://arxiv.org/pdf/2005.02198.pdf) 286 | #### 95. [lidar slam] 2020-05-19-[SROM: Simple Real-time Odometry and Mapping using LiDAR data for Autonomous Vehicles](https://arxiv.org/pdf/2005.02042.pdf) 287 | #### 96. [MSCKF] 2020-05-19-[Improving S-MSCKF with Variational Bayesian Adaptive Nonlinear Filter](https://ieeexplore.ieee.org/abstract/document/9076179/authors#authors) 288 | #### 97. [Fusion] 2020-05-19-[Robust IMU/GPS/VO integration for vehicle navigation in GNSS degraded urban areas](https://ieeexplore.ieee.org/abstract/document/9075286/authors#authors) 289 | #### 98. [Fusion] 2020-05-19-[Tightly-coupled Vision-Gyro- Wheel Odometry for Ground Vehicle with Online Extrinsic Calibration](https://ieeexplore.ieee.org/abstract/document/9081840/authors#authors) 290 | #### 99. [I-LOAM] 2020-05-19-[I-LOAM: Intensity Enhanced LiDAR Odometry and Mapping](https://irap.kaist.ac.kr/publications/yspark-2020-ur.pdf) 291 | #### 100. [VSLAM] 2020-05-25-[EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association](https://arxiv.org/pdf/2004.12730.pdf) 292 | #### 101. [Mono slam] 2020-05-25-[GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization](https://arxiv.org/pdf/2004.12051.pdf) 293 | #### 102. [Life-long] 2020-05-25-[Mapillary Street-Level Sequences: A Dataset for Lifelong Place Recognition](http://www2.compute.dtu.dk/~sohau/papers/cvpr2020/warburgCVPR2020.pdf) 294 | #### 103. [Feature] 2020-05-25-[Learning Feature Descriptors using Camera Pose Supervision](https://arxiv.org/pdf/2004.13324.pdf) 295 | #### 104. [Line and point] 2020-05-25-[Leveraging Planar Regularities for Point Line Visual-Inertial Odometry](https://arxiv.org/pdf/2004.11969.pdf) 296 | #### 105. [Radar slam] 2020-05-25-[See Through Smoke: Robust Indoor Mapping with Low-cost mmWave Radar](http://www.cs.ox.ac.uk/files/11899/_MobiSys_20__milliMap.pdf) 297 | #### 106. [lidar] 2020-05-25-[Evaluating the Limits of a LiDAR for an Autonomous Driving Localization](https://ieeexplore.ieee.org/abstract/document/9059023) 298 | #### 107. [DL-VSLAM] 2020-05-27-[Towards End-to-end Learning of Visual Inertial Odometry with an EKF](https://www.computerrobotvision.org/proceedings/pdfs/CRV2020-1ugoWdlO2rSdvYvbAocrmh/989100a190/989100a190.pdf) [code](https://github.com/lichunshang/deep_ekf_vio) 299 | #### 108. [New sensor] 2020-05-27-[BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane](https://arxiv.org/pdf/2004.11186.pdf) 300 | #### 109. [VSLAM] 2020-05-27-[Point-Plane SLAM Using Supposed Planes for Indoor Environments](https://github.com/fishmarch/SP-SLAM) [code](https://github.com/fishmarch/SP-SLAM) 301 | #### 110. [VSLAM] 2020-05-27-[Indoor Localization Based on VIO System and Three-Dimensional Map Matching](https://www.mdpi.com/1424-8220/20/10/2790/pdf) 302 | #### 111. [Long term] 2020-05-27-[Dense Semantic 3D Map Based Long-Term Visual Localization with Hybrid Features](https://arxiv.org/pdf/2005.10766.pdf) 303 | #### 112. [Calibration] 2020-06-02-[Improvements to Target-Based 3D LiDAR to Camera Calibration](https://arxiv.org/pdf/1910.03126.pdf) 304 | #### 113. [VSLAM] 2020-06-02-[VDO-SLAM: A Visual Dynamic Object-aware SLAM System](https://arxiv.org/pdf/2005.11052.pdf) [code](https://github.com/halajun/vdo_slam) 305 | #### 114. [Loop Detect] 2020-06-02-[OverlapNet: Loop Closing for LiDAR-based SLAM](http://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2020rss.pdf) [code](https://github.com/PRBonn/OverlapNet) 306 | #### 115. [VSLAM] 2020-06-16-[Robust Estimation of Absolute Camera Pose via Intersection Constraint and Flow Consensus](https://ieeexplore.ieee.org/abstract/document/9091036) 307 | #### 116. [Semantic SLAM] 2020-06-16-[View-Invariant Loop Closure with Oriented Semantic Landmarks](http://www.cim.mcgill.ca/~jimmyli/pubs/li2020icra.pdf) 308 | #### 117. [VSLAM] 2020-06-16-[Proactive Camera Attribute Control Using Bayesian Optimization for Illumination-Resilient Visual Navigation](https://ieeexplore.ieee.org/abstract/document/9098963) 309 | #### 118. [Event camera] 2020-06-16-[Event-Based Visual-Iner ent-Based Visual-Inertial Odometr tial Odometry Using Smar y Using Smart Features ](https://scholar.afit.edu/cgi/viewcontent.cgi?article=4173&context=etd) 310 | #### 119. [Thesis] 2020-06-16-[Robust and Unsupervised Interest Point Detection for Efficient Visual Odometry](https://www2.eecs.berkeley.edu/Pubs/TechRpts/2020/EECS-2020-64.pdf) 311 | #### 120. [VSLAM] 2020-06-16-[FUSION OF REAL TIME THERMAL IMAGE AND 1D/2D/3D DEPTH LASER READINGS FOR REMOTE THERMAL SENSING IN INDUSTRIAL PLANTS BY MEANS OF UAVs and/or ROBOTS](https://arxiv.org/pdf/2006.01286.pdf) 312 | #### 121. [VIR-SLAM] 2020-06-16-[VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems](https://arxiv.org/pdf/2006.00420.pdf) 313 | #### 122. [Math] 2020-06-16-[An Efficient Planar Bundle Adjustment Algorithm](https://arxiv.org/pdf/2006.00187.pdf) 314 | #### 123. [GPS+VIO] 2020-06-16-[Intermittent GPS-aided VIO: Online Initialization and Calibration](https://www.researchgate.net/profile/Patrick_Geneva/publication/341713067_Intermittent_GPS-aided_VIO_Online_Initialization_and_Calibration/links/5ed0063b299bf1c67d26cf5d/Intermittent-GPS-aided-VIO-Online-Initialization-and-Calibration.pdf) 315 | #### 124. [FPGA SLAM] 2020-06-16-[AN FPGA ACCELERATION AND OPTIMIZATION TECHNIQUES FOR 2D LIDAR SLAM ALGORITHM](https://arxiv.org/pdf/2006.01050.pdf) 316 | #### 125. [Math] 2020-06-16-[Least Squares Optimization: from Theory to Practice](https://arxiv.org/pdf/2002.11051.pdf) 317 | #### 126. [VSLAM] 2020-06-16-[Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use](https://arxiv.org/pdf/2003.00754.pdf) 318 | #### 127. [Thesis] 2020-06-16-[Significance of Omnidirectional Fisheye Cameras for Feature-based Visual SLAM](http://raphaelchang.com/MEng_Thesis_Chang.pdf) 319 | #### 128. [Autodrive] 2020-07-07-[On the Design and Development of a Self-Driving Car for the SAE AutoDrive Challenge](http://scholar.google.com/scholar_url?url=https://tspace.library.utoronto.ca/bitstream/1807/100988/4/Burnett_Keenan_%2520_202006_MAS_thesis.pdf&hl=en&sa=X&d=6714439579150522306&scisig=AAGBfm3jfDtlg6kV_BcZDlnfOlgaSPKNnw&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:7315593912237841010:AAGBfm0pBBSURff_Req2TeJVte4_NbU3cg&=) 320 | #### 129. [Math] 2020-07-07-[Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization](https://sci-hub.tw/10.1109/TCST.2020.3001387) 321 | #### 130. [VSLAM] 2020-07-07-[Robust and Autonomous Stereo Visual-Inertial Navigation for Non-Holonomic Mobile Robots](https://sci-hub.tw/10.1109/TVT.2020.3004163) 322 | #### 131. [GPS] 2020-07-07-[Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization](https://sci-hub.tw/https://ieeexplore.ieee.org/document/9121671) 323 | #### 132. [Deep VSLAM] 2020-07-07-[https://sci-hub.tw/10.1109/TRO.2020.3001674](https://sci-hub.tw/10.1109/TRO.2020.3001674) 324 | #### 133. [VSLAM] 2020-07-07-[MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System](https://arxiv.org/pdf/2006.15699.pdf) 325 | #### 134. [IMU] 2020-07-07-[Online IMU Intrinsic Calibration: Is It Necessary?](http://www.roboticsproceedings.org/rss16/p026.pdf) 326 | #### 135. [Event camera] 2020-07-07-[Event-Based Neuromorphic Vision for Autonomous Driving](https://sci-hub.tw/10.1109/MSP.2020.2985815) 327 | #### 136. [LSLAM] 2020-07-07-[Increased Accuracy For Fast Moving LiDARS:Correction of Distorted Point Clouds](https://www.tobiasrenzler.com/documents/lidar_distortion_correction.pdf) 328 | #### 137. [LSLAM] 2020-07-08-[Large-Scale Volumetric Scene Reconstruction using LiDAR](https://ras.papercept.net/proceedings/ICRA20/1401.pdf) 329 | #### 138. [VSLAM] 2020-07-14-[Stereo Visual Inertial Pose Estimation Based on Feedforward-Feedback Loops](https://arxiv.org/pdf/2007.02250.pdf) 330 | #### 139. [VSLAM] 2020-07-14-[AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot](https://arxiv.org/pdf/2007.01813.pdf) 331 | #### 140. [LSLAM] 2020-07-14-[LOL: Lidar-only Odometry and Localization in 3D point cloud maps*](https://arxiv.org/pdf/2007.01595.pdf) 332 | #### 141. [LSLAM] 2020-07-14-[LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://arxiv.org/pdf/2007.00258.pdf) 333 | #### 142. [Dataset] 2020-07-14-[UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes](https://arxiv.org/pdf/1912.09513.pdf) 334 | #### 143. [VSLAM] 2020-07-14-[Online Photometric Calibration of Optical Flow Visual-Inertial SLAM System](https://ieeexplore.ieee.org/abstract/document/9139073) 335 | #### 144. [VSLAM] 2020-07-14-[CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation](https://arxiv.org/pdf/2007.06708.pdf) 336 | #### 145. [VSLAM] 2020-07-22-[Hierarchical Clustering Matching for Features with Repetitive Patterns in Visual Odometr](https://link.springer.com/article/10.1007/s10846-020-01230-z) 337 | #### 146. [semantic VSLAM] 2020-07-22-[VPS-SLAM: Visual Planar Semantic SLAM for Aerial Robotic Systems](https://ieeexplore.ieee.org/document/9045978/authors#authors) 338 | #### 147. [MSCKF based] 2020-07-22-[Lightweight hybrid visual-inertial odometry with4closed-form zero velocity update](https://reader.elsevier.com/reader/sd/pii/S1000936120301722?token=0A59173FAB91FF731BF7537B7B2A14867F16A0ACC65AD8307CD6207DC00D329EEC1D7182A6DB68C98FF8A33FDB9FCA65) 339 | #### 148. [FPGA] 2020-07-24-[OpenCL implementation of a SLAM system on an SoC-FPGA](https://sci-hub.tw/https://doi.org/10.1016/j.sysarc.2020.101825) 340 | #### 149. [DL-feature] 2020-07-24-[Robust Place Recognition Using Illumination-compensated Image-based Deep Convolutional Autoencoder Features](https://sci-hub.tw/https://doi.org/10.1007/s12555-019-0891-x) 341 | #### 150. [DL-SLAM] 2020-07-24-[A Survey on Deep Learning for Localization and Mapping:Towards the Age of Spatial Machine Intelligence](https://arxiv.org/pdf/2006.12567.pdf) 342 | #### 151. [VSLAM] 2020-07-27-[Accurate On-line Extrinsic Calibration for a Multi-camera SLAM System](https://sci-hub.tw/10.1109/UR49135.2020.9144877) 343 | #### 152. [Feature] 2020-07-27-[Learning Monocular Visual Odometry via Self-Supervised Long-Term Modeling](https://arxiv.org/pdf/2007.10983.pdf) 344 | #### 153. [VSLAM] 2020-07-27-[ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://arxiv.org/pdf/2007.11898.pdf) 345 | #### 154. [VSLAM] 2020-07-27-[Privacy Preserving Visual SLAM](https://arxiv.org/pdf/2007.10361.pdf) 346 | #### 155. [Feature] 2020-07-27-[Online Invariance Selection for Local Feature Descriptors](https://arxiv.org/pdf/2007.08988.pdf) 347 | #### 156. [ROLLING SHTTER] 2020-07-29-[RELATIVE POSE ESTIMATION FOR STEREO ROLLING SHUTTER CAMERAS](https://arxiv.org/pdf/2006.07807.pdf) 348 | #### 157. [Optimization] 2020-07-29-[Incremental 3-D pose graph optimization for SLAM algorithm without marginalization](https://journals.sagepub.com/doi/pdf/10.1177/1729881420925304) 349 | #### 158. [Deep SLAM] 2020-08-10-[Simultaneously Learning Corrections and Error Models for Geometry-based Visual Odometry Methods](https://arxiv.org/pdf/2007.14943.pdf) 350 | #### 159. [Deep KeyPoint] 2020-08-10-[Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints](https://arxiv.org/pdf/2007.15122.pdf) [code](https://github.com/eric-yyjau/pytorch-deepFEPE) 351 | #### 160. [Deep PnP] 2020-08-10-[Solving the Blind Perspective-n-Point Problem End-To-End With Robust Differentiable Geometric Optimization](https://arxiv.org/pdf/2007.14628.pdf) 352 | #### 161. [VSLAM] 2020-08-10-[Pose Estimation Based on Wheel Speed Anomaly Detection in Monocular Visual-Inertial SLAM](https://ieeexplore.ieee.org/abstract/document/9149583) 353 | #### 162. [Semantic SLAM] 2020-08-10-[OrcVIO: Object residual constrained Visual-Inertial Odometry](https://arxiv.org/pdf/2007.15107.pdf) 354 | #### 163. [Event SLAM] 2020-08-10-[Event-based Stereo Visual Odometry](https://arxiv.org/pdf/2007.15548.pdf) 355 | #### 164. [Calibration] 2020-08-10-[Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation](https://arxiv.org/pdf/2007.14759.pdf) 356 | #### 165. [VSLAM] 2020-08-10-[ROVINS: Robust Omnidirectional Visual Inertial Navigation System](https://ieeexplore.ieee.org/abstract/document/9144432) 357 | #### 166. [Pose graph] 2020-08-10-[Cluster-based Penalty Scaling for Robust Pose Graph Optimization](https://ieeexplore.ieee.org/abstract/document/9146714) 358 | #### 167. [iSAM] 2020-08-10-[Improved iSAM Based on Flexible Re-Linearization Threshold and Error Learning Model for AUV in Large Scale Areas](https://ieeexplore.ieee.org/abstract/document/9144459) 359 | #### 168. [Navigation] 2020-08-10-[Lifelong Navigation](https://arxiv.org/pdf/2007.14486.pdf) 360 | #### 169. [Multi camera calibration] 2020-08-10-[Infrastructure-based Multi-Camera Calibration using Radial Projections](https://arxiv.org/pdf/2007.15330.pdf) 361 | #### 170. [VSLAM] 2020-08-10-[Online simultaneous localization and mapping with detection and tracking of moving objects](https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.13.2219&rep=rep1&type=pdf) 362 | #### 171. [Bionic eyes slam] 2020-08-10-[Real-Time Robust Stereo Visual SLAM System Based on Bionic Eyes](https://ieeexplore.ieee.org/abstract/document/9149675) 363 | #### 172. [Re-localization] 2020-08-12-[Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes](https://arxiv.org/pdf/2008.02004.pdf) 364 | #### 173. [VSLAM] 2020-08-12-[A Partial Sparsification Scheme for Visual-Inertial Odometry](https://ieeexplore.ieee.org/abstract/document/9159002/authors#authors) 365 | #### 174. [VSLAM] 2020-08-12-[Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments](https://arxiv.org/pdf/2008.01963.pdf) 366 | #### 175. [VSLAM] 2020-08-12-[A Tightly-coupled Semantic SLAM System with Visual, Inertialand Surround-view Sensors for Autonomous Indoor Parking](https://sse.tongji.edu.cn/linzhang/files/VISSLAM.pdf) 367 | #### 176. [Multi_SLAM] 2020-08-12-[Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios](https://hal.inria.fr/hal-02913098/document) 368 | #### 177. [AR+navigation] 2020-08-12-[An Augmented Reality Interaction Interface for Autonomous Drone](https://arxiv.org/pdf/2008.02234.pdf) 369 | #### 178. [PNP] 2020-08-20-[A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem](http://www.ecva.net/papers/eccv_2020/papers_ECCV/papers/123460460.pdf) 370 | #### 179. [Line seg] 2020-08-20-[LGNN: a Context-aware Line Segment Detector](https://arxiv.org/pdf/2008.05892.pdf) 371 | #### 180. [Deep Feature] 2020-08-20-[DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features](https://arxiv.org/pdf/2008.05416.pdf) 372 | #### 181. [Calibration] 2020-08-20-[On-the-fly Targetless Extrinsics Calibration For Multi-Stereo Systems Without Field-of-View Overlap](https://www.ri.cmu.edu/wp-content/uploads/2020/08/Chenfeng_Thesis-3.pdf) 373 | #### 182. [DVS] 2020-08-20-[IDOL: A Framework for IMU-DVS Odometry using Lines](https://arxiv.org/pdf/2008.05749.pdf) 374 | #### 183. [VSLAM] 2020-08-20-[Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes](https://arxiv.org/pdf/2008.05743.pdf) 375 | #### 184. [Embeded s lam] 2020-08-24-[S-VIT: Stereo Visual-Inertial Tracking of Lower Limb for Physiotherapy Rehabilitation in Context of Comprehensive Evaluationof SLAM Systems](https://sci-hub.tw/https://ieeexplore.ieee.org/document/9160889) 376 | #### 185. [Line feature] 2020-08-24-[Visual SLAM With Drift-Free Rotation Estimation in Manhattan World](https://sci-hub.tw/10.1109/LRA.2020.3014648) 377 | #### 186. [Doctor thesis] 2020-08-24-[Robust Multimodal Dense SLAM](https://spiral.imperial.ac.uk/bitstream/10044/1/80507/1/Laidlow-T-2020-PhD-Thesis.pdf) 378 | #### 187. [AR detection] 2020-08-25-[Object Detection in the Context of Mobile Augmented Reality](https://arxiv.org/pdf/2008.06655.pdf) 379 | #### 188. [Initialization] 2020-08-25-[Renormalization for Initialization of Rolling Shutter Visual-Inertial Odometry](https://arxiv.org/pdf/2008.06399.pdf) 380 | #### 189. [LIC—Fusion] 2020-08-25-[LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking](https://arxiv.org/pdf/2008.07196.pdf) 381 | #### 190. [Autodriving] 2020-08-25-[Drift with Devil: Security of Multi-Sensor Fusion based Localization in High-Level Autonomous Driving under GPS Spoofing](https://www.usenix.org/system/files/sec20-shen.pdf) 382 | #### 191. [Multicamera slam] 2020-08-25-[Towards Robust Multi Camera Visual Inertial Odometry](https://www.ri.cmu.edu/wp-content/uploads/2020/08/Final_Thesis.pdf) 383 | #### 192. [Plane SLAM] 2020-09-01-[Stereo Plane SLAM Based on Intersecting Lines](https://arxiv.org/pdf/2008.08218.pdf) 384 | #### 193. [DeepLidarFlow] 2020-09-01-[DeepLiDARFlow: A Deep Learning Architecture For Scene Flow Estimation Using Monocular Camera and Sparse LiDAR](https://arxiv.org/pdf/2008.08136.pdf) 385 | #### 194. [Graph optimization] 2020-09-01-[Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM](https://arxiv.org/pdf/2008.10123.pdf) 386 | #### 195. [Fast ORBSLAM] 2020-09-01-[FastORB-SLAM: Fast ORB-SLAM method with Coarse-to-Fine Descriptor Independent Keypoint Matching](https://arxiv.org/pdf/2008.09870.pdf) 387 | #### 196. [SFM] 2020-09-05-[Reducing Drift in Structure from Motion using Extended Features](https://arxiv.org/pdf/2008.12295.pdf) 388 | #### 197. [Place Recognition] 2020-09-05-[Semantic Graph Based Place Recognition for 3D Point Clouds](https://arxiv.org/pdf/2008.11459.pdf) 389 | #### 198. [Dynamic] 2020-09-05-[Accurate RGB-D SLAM in Dynamic Environment using ObservationallyConsistent Conditional Random Fields](http://iccvm.org/2020/docs/paper6.pdf) 390 | #### 199. [BA] 2020-09-05-[Large Scale Photometric Bundle Adjustment](https://arxiv.org/pdf/2008.11762.pdf) 391 | #### 200. [Evaluation] 2020-09-11-[SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding](https://www.research.manchester.ac.uk/portal/files/174952740/08794369.pdf) 392 | #### 201. [Deformable SLAM] 2020-09-11-[MORPH-DSLAM: Model Order Reduction for PHysics-based Deformable SLAM](https://arxiv.org/pdf/2009.00576.pdf) 393 | #### 202. [UAV Simulator] 2020-09-12-[Flightmare: A Flexible Quadrotor Simulator](https://arxiv.org/pdf/2009.00563.pdf) 394 | #### 203. [Low light feature] 2020-09-12-[Retaining Image Feature Matching Performance Under Low Light Conditions](https://arxiv.org/pdf/2009.00842.pdf) 395 | #### 204. [VSLAM] 2020-09-21-[Improving accuracy of VI-SLAM with fish-eye camera based on biases of map points](https://sci-hub.tw/https://doi.org/10.1080/01691864.2020.1815573) 396 | #### 205. [Deep SLAM] 2020-09-21-[Approaches, Challenges, and Applications for Deep Visual Odometry: Toward to Complicated and Emerging Areas](https://arxiv.org/pdf/2009.02672.pdf) 397 | #### 206. [Dataset] 2020-09-25-[4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving](https://arxiv.org/pdf/2009.06364.pdf) 398 | #### 207. [Planar Ground Vehicles] 2020-09-25-[Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles](https://sci-hub.se/10.1109/ICRA40945.2020.9196595) 399 | #### 208. [Baseline calibration] 2020-09-25-[Stereo Visual Inertial Odometry with Online Baseline Calibration](https://ieeexplore.ieee.org/document/9197581) 400 | #### 209. [Attention SLAM] 2020-09-25-[Attention-SLAM: A Visual Monocular SLAM Learning from Human Gaze](https://arxiv.org/pdf/2009.06886.pdf) 401 | #### 210. [FPGA] 2020-09-25-[A Survey of FPGA-Based Robotic Computing](https://arxiv.org/pdf/2009.06034.pdf) 402 | #### 211. [Robust] 2020-09-25-[Towards Noise Resilient SLAM](https://sci-hub.se/10.1109/ICRA40945.2020.9196745) 403 | #### 212. [Unknown Focal length] 2020-09-25-[An Efficient Solution to the Perspective-n-Point Problem for Camera With Unknown Focal Length](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9184857) 404 | #### 213. [UAV mapping] 2020-09-29-[OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles](https://arxiv.org/pdf/2009.10492.pdf) 405 | #### 214. [VSLAM] 2020-09-29-[Line Flow Based SLAM](https://arxiv.org/pdf/2009.09972.pdf) 406 | #### 215. [Lidar mapping] 2020-09-29-[Time-of-Flight LiDAR-based Precise Mapping](https://arxiv.org/pdf/2009.10170.pdf) 407 | #### 216. [VSLAM] 2020-09-29-[Practical Persistence Reasoning in Visual SLAM](http://lewissoft.com/pdf/ICRA2020/3091.pdf) 408 | #### 217. [Calibration] 2020-09-29-[Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM](https://ieeexplore.ieee.org/abstract/document/9189226) 409 | #### 218. [Ph.D. Thesis] 2020-10-01-[Long-Term Localization for Self-Driving Cars](https://research.chalmers.se/publication/519096/file/519096_Fulltext.pdf) 410 | #### 219. [Ph.D. Thesis] 2020-10-01-[Towards Robust Visual-Inertial Estimation](https://search.proquest.com/openview/d879f5aebd2601d2aa745bc0e95a653b/1?pq-origsite=gscholar&cbl=18750&diss=y) 411 | #### 220. [VSLAM] 2020-10-07-[Loop-box: Multi-Agent Direct SLAM Triggered by Single Loop Closure for Large-Scale Mapping](https://arxiv.org/pdf/2009.13851.pdf) 412 | #### 221. [VSLAM] 2020-10-13-[Can You Trust Your Pose? Confidence Estimation in Visual Localization](https://arxiv.org/pdf/2010.00347.pdf) 413 | #### 222. [Descriptor] 2020-10-14-[Descriptor Scoring for Feature Selection in Real-Time Visual Slam](https://ieeexplore.ieee.org/abstract/document/9190889) 414 | #### 223. [Fusion] 2020-10-13-[Monocular Visual-Inertial-Wheel Odometry Using Low-Grade IMU in Urban Areas](https://ieeexplore.ieee.org/abstract/document/9190061) 415 | #### 224. [Dynamic VSLAM] 2020-10-14-[DOT: Dynamic Object Tracking for Visual SLAM](https://arxiv.org/pdf/2010.00052.pdf) 416 | #### 225. [Event camera] 2020-10-13-[Robust Intensity Image Reconstruciton Based On Event Cameras](https://ieeexplore.ieee.org/abstract/document/9190830) 417 | #### 226. [Event camera] 2020-10-14-[Event-Based Visual Place Recognition With Ensembles of Temporal Windows](https://ieeexplore.ieee.org/abstract/document/9201344) 418 | #### 227. [Master thesis] 2020-10-16-[Evaluating the Effect of Illumination on the Performance of Visual Odometry in Underground Mining Environments](https://eprints.qut.edu.au/204294/1/Ian_Greyvensteyn_Thesis.pdf) 419 | #### 228. [DVO] 2020-10-19-[Bi-direction Direct RGB-D Visual Odometry](https://www.tandfonline.com/doi/abs/10.1080/08839514.2020.1824093?journalCode=uaai20) 420 | #### 229. [Multi camera] 2020-10-19-[Infrastructure-Based Multi-camera Calibration Using Radial Projections](https://link.springer.com/chapter/10.1007%2F978-3-030-58517-4_20) 421 | #### 230. [Reloc]2020-10-22-[LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization](https://arxiv.org/pdf/2010.06323.pdf) 422 | #### 231. [Match]2020-10-22-[Segmenting Epipolar Line](https://arxiv.org/pdf/2010.05131.pdf) 423 | #### 232. [SFM]2020-10-22-[Robust Isometric Non-Rigid Structure-from-Motion](https://arxiv.org/pdf/2010.04690.pdf) 424 | #### 233. [Event camera]2020-10-25-[Learning Monocular Dense Depth from Events](http://rpg.ifi.uzh.ch/docs/3DV20_Hidalgo.pdf) 425 | #### 234. [Dynamic slam]2020-10-25-[DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM](https://arxiv.org/pdf/2010.07820.pdf) 426 | #### 235. [Lidar SLAM]2020-10-25-[Interactive 3D Graph SLAM for Map Correction](https://staff.aist.go.jp/k.koide/assets/pdf/ral2020.pdf) 427 | #### 236. [Visual SLAM]2020-10-25-[PC-VINS-MONO: A ROBUST MONO VISUAL-INERTIAL ODOMETRY WITH PHOTOMETRIC CALIBRATION](http://front-sci.com/journal/article?doi=10.32629/jai.v1i2.33) 428 | #### 237. [Dynamic slam]2020-10-25-[Semantic Flow-guided Motion Removal Method for Robust Mapping](https://arxiv.org/pdf/2010.06876.pdf) 429 | #### 238. [Multi_lidar]2020-11-04-[Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration](https://arxiv.org/pdf/2010.14294.pdf) 430 | #### 239. [Sensor_fusion]2020-11-04-[VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach](https://arxiv.org/pdf/2010.12274.pdf) 431 | #### 240. [Lidar]2020-11-04-[Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping](https://arxiv.org/pdf/2010.13150.pdf) 432 | #### 241. [Sensor_fusion]2020-11-04-[LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry](https://arxiv.org/pdf/2010.13072.pdf) 433 | #### 242. [Lidar]2020-11-04-[PSF-LO: Parameterized Semantic Features Based Lidar Odometry](https://arxiv.org/pdf/2010.13355.pdf) 434 | #### 243. [Stereo]2020-11-04-[VINS-Stereo for the FPV Drone Racing VIO Competition 2020 ](https://fpv.ifi.uzh.ch/wp-content/uploads/sourcenova/uni-comp/2019-2020-uzh-fpv-benchmark/submissions/15/details.pdf) 435 | #### 244. [VSLAM]2020-11-14-[SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information](http://ras.papercept.net/images/temp/IROS/files/0092.pdf) 436 | #### 245. [Ground robots]2020-11-14-[GR-SLAM: Vision-Based Sensor Fusion SLAM for Ground Robots on Complex Terrain](http://ras.papercept.net/images/temp/IROS/files/1302.pdf) 437 | #### 246. [VSLAM]2020-11-16-[Geometric Structure Aided Visual Inertial Localization](https://arxiv.org/pdf/2011.04173.pdf) 438 | #### 247. [Kimera]2020-11-16-[Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping](https://arxiv.org/pdf/2011.04087.pdf) 439 | #### 248. [Rolling shutter]2020-11-16-[Learning Rolling Shutter Correction from Real Data without Camera Motion Assumption](https://arxiv.org/pdf/2011.03106.pdf) 440 | #### 249. [GPU]2020-11-16-[GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization](https://arxiv.org/pdf/2011.04240.pdf) 441 | #### 250. [Lidar Loop]2020-11-16-[MinkLoc3D: Point Cloud Based Large-Scale Place Recognition](https://arxiv.org/pdf/2011.04530.pdf) 442 | #### 251. [Depth learning]2020-11-16-[Deep Learning based Monocular Depth Prediction: Datasets, Methods and Applications](https://arxiv.org/pdf/2011.04123.pdf) 443 | #### 252. [Sensor Fusion] 2020-12-08-[CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System](https://arxiv.org/pdf/2011.11357.pdf) 444 | #### 253. [Reconstruction] 2020-12-08-[InstanceFusion: Real‐time Instance‐level 3D Reconstruction Using a Single RGBD Camera](https://onlinelibrary.wiley.com/doi/abs/10.1111/cgf.14157) 445 | #### 254. [Feature Detector] 2020-12-12-[FFD: Fast Feature Detector](https://arxiv.org/pdf/2012.00859.pdf) 446 | #### 255. [Descriptor] 2020-12-12-[Cross-Descriptor Visual Localization and Mapping](https://arxiv.org/pdf/2012.01377.pdf) 447 | #### 256. [BA] 2020-12-12-[Stochastic Bundle Adjustment for Efficient and Scalable 3D Reconstruction](https://arxiv.org/pdf/2008.00446.pdf) 448 | #### 257. [BA] 2020-12-14-[Rotation-Only Bundle Adjustment](https://arxiv.org/pdf/2011.11724.pdf) 449 | #### 258. [Simulation] 2020-12-14-[End-to-End UAV Simulation for Visual SLAM and Navigation](https://arxiv.org/pdf/2012.00298.pdf) 450 | #### 259. [BA] 2020-12-14-[Novel Parameterization for Gauss–Newton Methods in 3-D Pose Graph Optimization](https://ieeexplore.ieee.org/abstract/document/9256275) 451 | #### 260. [Fusion] 2020-12-14-[Plane-Edge-SLAM: Seamless Fusion of Planes and Edges for SLAM in Indoor Environments](https://ieeexplore.ieee.org/abstract/document/9248035/authors#authors) 452 | #### 261. [Depth] 2020-12-26-[Boosting Monocular Depth Estimation with Lightweight 3D Point Fusion](https://arxiv.org/pdf/2012.10296.pdf) 453 | #### 262. [VIO+depth] 2020-12-26-[CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth](https://arxiv.org/pdf/2012.10133.pdf) 454 | #### 263. [AR] 2020-12-26-[Device profile of the XVision-spine (XVS) augmented-reality surgical navigation system: overview of its safety and efficacy](https://sci-hub.se/https://doi.org/10.1080/17434440.2021.1865795) 455 | #### 264. [LOAM] 2020-12-26-[P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment](https://arxiv.org/pdf/2012.02399.pdf) 456 | #### 265. [Optimization] 2020-12-26-[Generalized Proximal Methods for Pose Graph Optimization](https://arxiv.org/pdf/2012.02709.pdf) 457 | #### 266. [Calibration] 2020-12-26-[Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features](http://www.photon.ac.cn/EN/abstract/abstract22785.shtml) 458 | 459 | ### 3D Reconstruction 460 | #### 1. [Automatically explore] 2020-01-14-[Plan3D: Viewpoint and Trajectory Optimization for Aerial Multi-View Stereo Reconstruction](https://sci-hub.tw/https://doi.org/10.1145/3233794) 461 | #### 2. [laser reconstruction] 2020-02-14-[Real-Time 3D Reconstruction of Thin Surface Based on Laser Line Scanner](https://www.researchgate.net/publication/338707435_Real-Time_3D_Reconstruction_of_Thin_Surface_Based_on_Laser_Line_Scanner) 462 | #### 3. [Deep Reconstruction] 2020-04-03-[Atlas: End-to-End 3D Scene Reconstruction from Posed Images](https://arxiv.org/pdf/2003.10432.pdf) From magicleap 463 | #### 4. [User-guided] 2020-05-19-[User-guided 3D reconstruction using multi-view stereo](https://dl.acm.org/doi/fullHtml/10.1145/3384382.3384530) 464 | #### 5. [Learned based] 2020-07-07-[On the generalization of learning-based 3D reconstruction](https://arxiv.org/pdf/2006.15427.pdf) 465 | #### 6. [Large-scale] 2020-07-22-[Large-scale outdoor scene reconstruction and correction with vision](https://sci-hub.tw/https://doi.org/10.1177/0278364920937052) 466 | #### 7. [Deep] 2020-08-20-[An Accurate, Robust Visual Odometry and Detail-preserving Reconstruction Syste](http://www.3dgp.net/paper/2020/An%20Accurate,%20Robust%20Visual%20Odometry%20and%20Detail-preserving%20Reconstruction%20System.pdf) 467 | ## SLAM 能力图 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | -------------------------------------------------------------------------------- /SLAM能力图.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YiChenCityU/Recent_SLAM_Research/388abf48a21e26979cee321f79eb358675a617a8/SLAM能力图.png --------------------------------------------------------------------------------