【回馈社区】跟踪SLAM前沿动态2019, 2018版 .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。 欢迎在Issues里发布招聘信息。
1. [Semantic SLAM] 2020-01-13-Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment Only label the point clouds with semantic segmentation info, no improvement in accuarcy. code
2. [Calibration] 2020-01-13-A Generalized Framework for Autonomous Calibration of Wheeled Mobile Robots
3. [VSLAM] 2020-01-13-Trained Trajectory based Automated Parking System using Visual SLAM
4. [Deep SLAM] 2020-01-13-AD-VO: SCALE-RESILIENT VISUAL ODOMETRY USING ATTENTIVE DISPARITY MAP Learned based frame to frame VO with the input as disparity map.
5. [Lidar Deep SLAM] 2020-01-13-CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description 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
6. [VSLAM] 2020-01-13-Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency 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
7. [VSLAM] 2020-01-13-Direct Sparse Visual-Inertial Odometry with Stereo Cameras 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.
8. [VSLAM] 2020-01-14-Accurate Line Reconstruction for Point and Line-Based Stereo Visual Odometry
9. [VSLAM] 2020-01-14-A Stereo Visual-Inertial SLAM Approach for Indoor Mobile Robots in Unknown Environments Without Occlusions 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.
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
11. [Review] 2020-01-14-Multi-Sensor Fusion in Automated Driving: A Survey
12. [Lidar Deep SLAM] 2020-01-14-SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory
13. [Deep SLAM] 2020-01-22-Learning Topometric Semantic Maps from Occupancy Grids 2D laser semantic map.
14. [VSLAM] 2020-01-22-Temporal Delay Estimation of Sparse Direct Visual Inertial Odometry for Mobile Robots Calibrate the time offset between IMU and Camera.
15. [IMU] 2020-02-06-A Lightweight and Accurate Localization Algorithm Using Multiple Inertial Measurement Units The overall performance of SLAM can be further improved by using multiple IMUs.
16. [Lidar SLAM] 2020-02-10-Localization of Map Changes by Exploiting SLAM Residuals identify changes in maps constructed by SLAM.
17. [VSLAM] 2020-02-10-Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM 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.
18. [EKF] 2020-02-10-A Code for Unscented Kalman Filtering on Manifolds (UKF-M) a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends our previous work about UKF on Lie groups.
19. [New sensor] 2020-02-10-Corners positioning for binocular ultra-wide angle long-wave infrared camera calibration calibrating binocular ultra-wide angle long-wave infrared camera.
20. [VSLAM] 2020-02-12-Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping VIO + Dense mapping + Semantic
21. [Semantic] 2020-02-12-Edge Assisted Mobile Semantic Visual SLAM 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.
22. [lidar SLAM] 2020-02-12-Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop ClosureIn 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.
23. [Semantic] 2020-02-14-Tightly Coupled Semantic RGB-D Inertial Odometry for Accurate Long-Term Localization and Mapping utilize semantically enhanced feature matching and visual inertial bundle adjustment to improve the robustness of odometry especially in feature-sparse environments.
24. [VIO] 2020-02-14-Visual-Inertial Ego-Motion Estimation using Rolling-Shutter Camera in autonomous driving interpolate the IMU pose between consecutive poses and set up a novel feature measurement error model to cover the time delay issues.
25. [VIO] 2020-02-14-EIP-VIO: Edge-Induced Points Based Monocular Visual-Inertial Odometry propose an improved and practical monocular visual-inertial odometry method based on selective edge points.
26. [Event camera] 2020-02-14-Sepia, Tarsier, and Chameleon: A Modular C++ Framework for Event-Based Computer Vision A framework to process Event camera. code
27. [Multimodal localization] 2020-02-14-Multimodal localization: Stereo over LiDAR map Visual localization in lidar map.
28. [2D SLAM] 2020-02-15-x A Triangle Feature Based Map-to-map Matching and Loop Closure for 2D Graph SLAM 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.
29. [Doctor paper] 2020-02-15-Enabling Robust State Estimation through Covariance Adaptation
30. [Multirobots] 2020-02-15-Statistical Outlier Identification in Multi-robot Visual SLAM using Expectation Maximization This paper presents a probabilistic approach for detecting incorrect orientation measurements prior to pose graph optimization by checking the geometric consistency of rotation measurements.
31. [Math] 2020-02-15-New approach to calculating the fundamental matrix
32. [Math] 2020-02-16-IMPROVING THE APPLICABILITY OF VISUAL SLAM WITH SUBMODULAR SUBMATRIX SELECTION
33. [VSLAM] 2020-02-16-DeepFactors: Real-Time Probabilistic Dense Monocular SLAM 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
34. [VSLAM] 2020-02-16-Direct Visual-Inertial Ego-Motion Estimationv via Iterated Extended Kalman Filter
35. [VSLAM] 2020-02-16-Multi-object Monocular SLAM for Dynamic Environments
36. [LOOP] 2020-02-16-Hierarchical Multi-Process Fusion for Visual Place Recognition
37. [2D LSLAM] 2020-02-21-GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction
38. [RGBD SLAM] 2020-02-21-Accurate and Robust RGB-D Dense Mapping with Inertial Fusion and Deformation-Graph Optimization
39. [VSLAM] 2020-03-02-Dynamic SLAM: The Need For Speedfeature-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.
40. [VSLAM] 2020-03-04-Monocular Direct Sparse Localization in a Prior 3D Surfel Map tracking the pose of a monocular camera in a prior surfel map.
41. [Semantic slam] 2020-03-04-Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM
42. [Math] 2020-03-04-Least Squares Optimization: from Theory to Practice a unified methodology to design and develop efficient Least-Squares Optimization algorithms, focusing on the structures and patterns of each specific domain.code
43. [RGBD] 2020-03-04-Perception in the Dark—Development of a ToF Visual Inertial Odometry System code
44. [Event Camera] 2020-03-04-Robust Feature Tracking in DVS Event Stream using Bezier Mapping
45. [Deep SLAM] 2020-03-05-Self-Supervised Deep Pose Corrections for Robust Visual Odometry uses data-driven learning to regress pose corrections that account for systematic errors due to violations of modelling assumptions. code
46. [Doctor thesis] 2020-03-05-Custom hardware architectures for embedded high-performance and low-power SLAM
47. [VSLAM] 2020-03-05-Visual Camera Re-Localization from RGB and RGB-D Images Using DSAC
48. [Deep SLAM] 2020-03-09-D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry
49. [VSLAM] 2020-03-09-Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
50. [Deep SLAM] 2020-03-09-MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation
51. [LOOP] 2020-03-09-Augmenting Visual Place Recognition with Structural Cues
52. [VSLAM] 2020-03-09-Robust tightly coupled pose estimation based on monocular vision, inertia, and wheel speed
53. [VSLAM] 2020-03-09-Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use code
54. [VSLAM] 2020-03-09-MiniVO: Minimalistic Range Enhanced Monocular System for Scale Correct Pose Estimation code
55. [VSLAM] 2020-03-09-Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas
56. [VSLAM] 2020-03-16-StereoNeuroBayesSLAM: A Neurobiologically Inspired Stereo Visual SLAM System Based on Direct Sparse Method
57. [Math] 2020-03-16-Bundle Adjustment on a Graph Processor
58. [VSLAM] 2020-03-16-Voxel Map for Visual SLAM
59. [LSLAM] 2020-03-16-LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes
60. [VSLAM] 2020-03-16-Redesigning SLAM for Arbitrary Multi-Camera Systems
61. [VSLAM] 2020-03-19-DymSLAM:4D Dynamic Scene Reconstruction Based on Geometrical Motion Segmentation
62. [LSALM] 2020-03-19-Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry
63. [VSLAM] 2020-03-19-FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow
64. [VSLAM] 2020-03-19-Inertial-Only Optimization for Visual-Inertial Initialization
65. [VSLAM] 2020-03-19-Extrinsic Calibration of Multiple RGB-D Cameras Based on Descriptor-based Patterns
66. [VSLAM] 2020-03-19-SD-VIS: A Fast and Accurate Semi-Direct Monocular Visual-Inertial Simultaneous Localization and Mapping (SLAM)
67. [Calibration] 2020-03-19-A fast calibration approach for onboard LiDAR-camera systems
68. [Edge SLAM] 2020-03-24-Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association
69. [Math] 2020-03-24-Learning 2D–3D Correspondences To Solve The Blind Perspective-n-Point Problem
70. [LSLAM] 2020-03-24-An Experimental Evaluation of Robustness and Precision for Long-term LiDAR-based Localization in Highly Changing Environments
71. [AR] 2020-03-24-A novel augmented reality framework based on monocular semi-dense simultaneous localization and mapping
72. [VSLAM] 2020-04-03-OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-baseline Multi-camera Systems
73. [VSLAM] 2020-04-03-Monocular Visual–Inertial SLAM Algorithm Combined with Wheel Speed Anomaly Detection
74. [VSLAM] 2020-04-07-Removing Dynamic Objects for Static Scene Reconstruction using Light Fields
75. [VSLAM] 2020-04-07-Multi-camera visual SLAM for off-road navigation
76. [VSLAM] 2020-04-07-Long-Term Loop Closure Detection through Visual-Spatial Information Preserving Multi-Order Graph Matching
77. [VSLAM] 2020-04-13-Coupling of localization and depth data for mapping using Intel RealSense T265 and D435i cameras
78. [Calibration] 2020-04-13-On-the-Fly Camera and Lidar Calibration
79. [Event Camera] 2020-04-13-Single Image Optical Flow Estimation with an Event Camera
80. [VSLAM] 2020-04-13-Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences code
81. [Fusion] 2020-04-13-Scene-Aware Error Modeling of LiDAR/Visual Odometry for Fusion-based Vehicle Localization
82. [Dataset] 2020-04-13-TartanAir: A Dataset to Push the Limits of Visual SLAM
83. [VSLAM] 2020-04-13-ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings
84. [DeepSLAM] 2020-04-13-DeepSLAM: A Robust Monocular SLAM System with Unsupervised Deep Learning
85. [Fusion] 2020-04-13-Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry
86. [GPU] 2020-04-13-Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO code
1. [Automatically explore] 2020-01-14-Plan3D: Viewpoint and Trajectory Optimization for Aerial Multi-View Stereo Reconstruction
2. [laser reconstruction] 2020-02-14-Real-Time 3D Reconstruction of Thin Surface Based on Laser Line Scanner
3. [Deep Reconstruction] 2020-04-03-Atlas: End-to-End 3D Scene Reconstruction from Posed Images from magicleap
1. [UAV] 2020-01-14-Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological PathsReplanning method based on GTO.code
2. [Auto exploration] 2020-01-14-3D Exploration and Navigation with Optimal-RRT Planners for Ground Robots in Indoor Incidents
3. [End-to-end navi] 2020-02-20-BADGR: An Autonomous Self-Supervised Learning-Based Navigation System an end-to-end learning-based mobile robot navigation system. code
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