RecentSLAMResearch_2020

January 14, 2021 · View on GitHub

【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。

------------ ICRA 2020

OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-Baseline Multi-Camera Systems

Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms

Spatio-Temporal Non-Rigid Registration of 3D Point Clouds of Plants

Uncertainty-Based Adaptive Sensor Fusion for Visual-Inertial Odometry under Various Motion Characteristics

Loam_livox: A Fast, Robust, High-Precision LiDAR Odometry and Mapping Package for LiDARs of Small FoV

Active SLAM Using 3D Submap Saliency for Underwater Volumetric Exploration

Are We Ready for Service Robots? the OpenLORIS-Scene Datasets for Lifelong SLAM

Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection

TextSLAM: Visual SLAM with Planar Text Features

FlowNorm: A Learning-Based Method for Increasing Convergence Range of Direct Alignment

Redesigning SLAM for Arbitrary Multi-Camera Systems

Dynamic SLAM: The Need for Speed

GradSLAM: Dense SLAM Meets Automatic Differentiation

Long-Term Place Recognition through Worst-Case Graph Matching to Integrate Landmark Appearances and Spatial Relationships

Linear RGB-D SLAM for Atlanta World

Stereo Visual Inertial Odometry with Online Baseline Calibration

Lidar-Monocular Visual Odometry Using Point and Line Features

Probabilistic Data Association Via Mixture Models for Robust Semantic SLAM

Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy

Metrically-Scaled Monocular SLAM Using Learned Scale Factors

Inertial-Only Optimization for Visual-Inertial Initialization

Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM

Keypoint Description by Descriptor Fusion Using Autoencoders

Towards Noise Resilient SLAM

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments

Modeling Semi-Static Scenes with Persistence Filtering in Visual SLAM

Broadcast Your Weaknesses: Cooperative Active Pose-Graph SLAM for Multiple Robots

FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow

Efficient Algorithms for Maximum Consensus Robust Fitting (I)

MulRan: Multimodal Range Dataset for Urban Place Recognition

GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization

Large-Scale Volumetric Scene Reconstruction Using LiDAR

Topological Mapping for Manhattan-Like Repetitive Environments

Structure-Aware COP-SLAM

Robust RGB-D Camera Tracking Using Optimal Key-Frame Selection

Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps

DeepFactors: Real-Time Probabilistic Dense Monocular SLAM

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

Windowed Bundle Adjustment Framework for Unsupervised Learning of Monocular Depth Estimation with U-Net Extension and Clip Loss

StructVIO : Visual-Inertial Odometry with Structural Regularity of Man-Made Environments (I)

Flow-Motion and Depth Network for Monocular Stereo and Beyond

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Hybrid Camera Pose Estimation with Online Partitioning for SLAM

Analysis of Minima for Geodesic and Chordal Cost for a Minimal 2D Pose-Graph SLAM Problem

Voxel Map for Visual SLAM

LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes

ROI-Cloud: A Key Region Extraction Method for LiDAR Odometry and Localization

To Learn or Not to Learn: Visual Localization from Essential Matrices

Hierarchical Multi-Process Fusion for Visual Place Recognition

Camera Tracking in Lighting Adaptable Maps of Indoor Environments

Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-Based Matching of Overloaded Representations

Vision-Based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

Map As the Hidden Sensor: Fast Odometry-Based Global Localization

Joint Human Pose Estimation and Stereo 3D Localization

Self-Supervised Deep Pose Corrections for Robust Visual Odometry

Ultra-High-Accuracy Visual Marker for Indoor Precise Positioning

Accurate Position Tracking with a Single UWB Anchor

Association-Free Multilateration Based on Times of Arrival

Adversarial Feature Disentanglement for Place Recognition across Changing Appearance

A Fast and Accurate Solution for Pose Estimation from 3D Correspondences

Ground Texture Based Localization Using Compact Binary Descriptors

Reliable Data Association for Feature-Based Vehicle Localization Using Geometric Hashing Methods

Vehicle Localization Based on Visual Lane Marking and Topological Map Matching

RISE: A Novel Indoor Visual Place Recogniser

Beyond Photometric Consistency: Gradient-Based Dissimilarity for Improving Visual Odometry and Stereo Matching

ICS: Incremental Constrained Smoothing for State Estimation

Drone-Aided Localization in LoRa IoT Networks

A Fast and Practical Method of Indoor Localization for Resource-Constrained Devices with Limited Sensing

GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization

A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3)

A Tightly Coupled VLC-Inertial Localization System by EKF

Localization of Inspection Device Along Belt Conveyors with Multiple Branches Using Deep Neural Networks

Localising PMDs through CNN Based Perception of Urban Streets

The Complex-Step Derivative Approximation on Matrix Lie Groups

Hybrid Localization Using Model and Learning-Based Methods: Fusion of Monte Carlo and E2E Localizations Via Importance Sampling

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

Quantifying Robot Localization Safety: A New Integrity Monitoring Method for Fixed-Lag Smoothing

Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs

Relax and Recover: Guaranteed Range-Only Continuous Localization

SPRINT: Subgraph Place Recognition for Intelligent Transportation

OneShot Global Localization: Instant LiDAR-Visual Pose Estimation

Relocalization on Submaps: Multi-Session Mapping for Planetary Rovers Equipped with Stereo Cameras

DeepTIO: A Deep Thermal-Inertial Odometry with Visual Hallucination

RSL-Net: Localising in Satellite Images from a Radar on the Ground

Kidnapped Radar: Topological Radar Localisation Using Rotationally-Invariant Metric Learning

Global Visual Localization in LiDAR-Maps through Shared 2D-3D Embedding Space

Unsupervised Learning Methods for Visual Place Recognition in Discretely and Continuously Changing Environments

LOL: Lidar-Only Odometry and Localization in 3D Point Cloud Maps

Localising Faster: Efficient and Precise Lidar-Based Robot Localisation in Large-Scale Environments

LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery

Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach

Gated Recurrent Fusion to Learn Driving Behaviour from Temporal Multimodal Data

Cooperative Visual-Inertial Odometry: Analysis of Singularities, Degeneracies and Minimal Cases

A Lightweight and Accurate Localization Algorithm Using Multiple Inertial Measurement Units

Accelerating the Estimation of Metabolic Cost Using Signal Derivatives: Implications for Optimization and Evaluation of

Deep Depth Fusion for Black, Transparent, Reﬂective and Texture-Less Objects

LiDAR-Enhanced Structure-From-Motion

Low Latency and Low-Level Sensor Fusion for Automotive Use-Cases

Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach

Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait Analysis

Gaussian Process Preintegration for Inertial-Aided State Estimation

A Code for Unscented Kalman Filtering on Manifolds (UKF-M)

Efficient and Precise Sensor Fusion for Non-Linear Systems with Out-Of-Sequence Measurements by Example of Mobile Robotics

UNO: Uncertainty-Aware Noisy-Or Multimodal Fusion for Unanticipated Input Degradation

Intermittent GPS-Aided VIO: Online Initialization and Calibration

A Mathematical Framework for IMU Error Propagation with Applications to Preintegration

Radar-Inertial Ego-Velocity Estimation for Visually DegradedEnvironments

Observability Analysis of Flight State Estimation for UAVs and Experimental Validation

OpenVINS: A Research Platform for Visual-Inertial Estimation

Second-Order Kinematics for Floating-Base Robots Using the Redundant Acceleration Feedback of an Artificial Sensory Skin

Clock-Based Time Synchronization for an Event-Based Camera Dataset Acquisition Platform

Set-Membership State Estimation by Solving Data Association

SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory

Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties

AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM

Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR

A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

Geometric Robot Dynamic Identification: A Convex Programming Approach (I)

A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images

Online Camera-LiDAR Calibration with Sensor Semantic Information

Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-Shape Wafers

Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick

Online Calibration of Exterior Orientations of a Vehicle-Mounted Surround-View Camera System

Learning Camera Miscalibration Detection

Exploring Performance Bounds of Visual Place Recognition Using Extended Precision

Visual-Inertial Mapping with Non-Linear Factor Recovery

Highly Robust Visual Place Recognition through Spatial Matching of CNN Features

Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry

Robust Vision-Based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments

Proximity Estimation Using Vision Features Computed on Sensor

Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles

Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection

Reliable Frame-To-Frame Motion Estimation for Vehicle-Mounted Surround-View Camera Systems

Enabling Topological Planning with Monocular Vision

DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network

SnapNav: Learning Mapless Visual Navigationwith Sparse Directional Guidance and Visual Reference

Kimera: An Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

Constrained Filtering-Based Fusion of Images, Events, and Inertial Measurements for Pose Estimation

Schmidt-EKF-Based Visual-Inertial Moving Object Tracking

Tightly-Coupled Single-Anchor Ultra-Wideband-Aided Monocular Visual Odometry System

Test Your SLAM! the SubT-Tunnel Dataset and Metric for Mapping

YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation

A Unified Framework for Piecewise Semantic Reconstruction in Dynamic Scenes Via Exploiting Superpixel Relations

Keyframe-Based Dense Mapping with the Graph of View-Dependent Local Maps

Informative Path Planning for Active Mapping under Localization Uncertainty

Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data

Robust Method for Removing Dynamic Objects from Point Clouds

Skeleton-Based Conditionally Independent Gaussian Process Implicit Surfaces for Fusion in Sparse to Dense 3D Reconstruction

Motion Estimation in Occupancy Grid Maps in Stationary Settings Using Recurrent Neural Networks

A Divide and Conquer Method for 3D Registration of Inhomogeneous, Partially Overlapping Scans with Fourier Mellin SOFT (FMS)

Estimating Motion Uncertainty with Bayesian ICP

Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot

Efficient Covisibility-Based Image Matching for Large-Scale SfM

Probabilistic TSDF Fusion Using Bayesian Deep Learning for Dense 3D Reconstruction with a Single RGB Camera

A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

A Hierarchical Framework for Collaborative Probabilistic Semantic Mapping

Hybrid Topological and 3D Dense Mapping through Autonomous Exploration for Large Indoor Environments

Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints

Moving Object Detection for Visual Odometry in a Dynamic Environment Based on Occlusion Accumulation

------------ ICRA 2020 终止线 ----------

------------ CVPR 2020

------------ CVPR 2020 终止线 ----------

------------ ECCV 2020

------------ ECCV 2020 终止线 ----------

------------ IROS 2020

------------ IROS 2020 终止线 ----------

------------ ICCV 2020

------------ ICCV 2020 终止线 ----------

SLAM

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

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

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

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

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

87. [Descriptor] 2020-04-27-BEBLID: Boosted Efficient Binary Local Image Descriptor code

88. [Doctor thesis] 2020-04-27-Robust Visual SLAM in Challenging Environments with low-texture and Dynamic Illumination

89. [LSLAM] 2020-04-27-CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description code

90. [VSLAM] 2020-04-27-Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments

91. [VSLAM] 2020-04-27-Online Initialization and Extrinsic Spatial-Temporal Calibration for Monocular Visual-Inertial Odometry

92. [VSLAM] 2020-04-27-Latency Compensated Visual-Inertial Odometry for Agile Autonomous Flight

93. [Descriptor] 2020-04-27-Visual Descriptor Learning from Monocular Video

94. [radar slam] 2020-05-19-RadarSLAM: Radar based Large-Scale SLAM in All Weathers

95. [lidar slam] 2020-05-19-SROM: Simple Real-time Odometry and Mapping using LiDAR data for Autonomous Vehicles

96. [MSCKF] 2020-05-19-Improving S-MSCKF with Variational Bayesian Adaptive Nonlinear Filter

98. [Fusion] 2020-05-19-Tightly-coupled Vision-Gyro- Wheel Odometry for Ground Vehicle with Online Extrinsic Calibration

99. [I-LOAM] 2020-05-19-I-LOAM: Intensity Enhanced LiDAR Odometry and Mapping

100. [VSLAM] 2020-05-25-EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association

101. [Mono slam] 2020-05-25-GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization

102. [Life-long] 2020-05-25-Mapillary Street-Level Sequences: A Dataset for Lifelong Place Recognition

103. [Feature] 2020-05-25-Learning Feature Descriptors using Camera Pose Supervision

104. [Line and point] 2020-05-25-Leveraging Planar Regularities for Point Line Visual-Inertial Odometry

105. [Radar slam] 2020-05-25-See Through Smoke: Robust Indoor Mapping with Low-cost mmWave Radar

106. [lidar] 2020-05-25-Evaluating the Limits of a LiDAR for an Autonomous Driving Localization

107. [DL-VSLAM] 2020-05-27-Towards End-to-end Learning of Visual Inertial Odometry with an EKF code

108. [New sensor] 2020-05-27-BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane

109. [VSLAM] 2020-05-27-Point-Plane SLAM Using Supposed Planes for Indoor Environments code

110. [VSLAM] 2020-05-27-Indoor Localization Based on VIO System and Three-Dimensional Map Matching

111. [Long term] 2020-05-27-Dense Semantic 3D Map Based Long-Term Visual Localization with Hybrid Features

112. [Calibration] 2020-06-02-Improvements to Target-Based 3D LiDAR to Camera Calibration

113. [VSLAM] 2020-06-02-VDO-SLAM: A Visual Dynamic Object-aware SLAM System code

114. [Loop Detect] 2020-06-02-OverlapNet: Loop Closing for LiDAR-based SLAM code

115. [VSLAM] 2020-06-16-Robust Estimation of Absolute Camera Pose via Intersection Constraint and Flow Consensus

116. [Semantic SLAM] 2020-06-16-View-Invariant Loop Closure with Oriented Semantic Landmarks

118. [Event camera] 2020-06-16-Event-Based Visual-Iner ent-Based Visual-Inertial Odometr tial Odometry Using Smar y Using Smart Features

119. [Thesis] 2020-06-16-Robust and Unsupervised Interest Point Detection for Efficient Visual Odometry

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

121. [VIR-SLAM] 2020-06-16-VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems

122. [Math] 2020-06-16-An Efficient Planar Bundle Adjustment Algorithm

123. [GPS+VIO] 2020-06-16-Intermittent GPS-aided VIO: Online Initialization and Calibration

124. [FPGA SLAM] 2020-06-16-AN FPGA ACCELERATION AND OPTIMIZATION TECHNIQUES FOR 2D LIDAR SLAM ALGORITHM

125. [Math] 2020-06-16-Least Squares Optimization: from Theory to Practice

126. [VSLAM] 2020-06-16-Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use

127. [Thesis] 2020-06-16-Significance of Omnidirectional Fisheye Cameras for Feature-based Visual SLAM

128. [Autodrive] 2020-07-07-On the Design and Development of a Self-Driving Car for the SAE AutoDrive Challenge

129. [Math] 2020-07-07-Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization

131. [GPS] 2020-07-07-Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization

132. [Deep VSLAM] 2020-07-07-https://sci-hub.tw/10.1109/TRO.2020.3001674

134. [IMU] 2020-07-07-Online IMU Intrinsic Calibration: Is It Necessary?

135. [Event camera] 2020-07-07-Event-Based Neuromorphic Vision for Autonomous Driving

136. [LSLAM] 2020-07-07-Increased Accuracy For Fast Moving LiDARS:Correction of Distorted Point Clouds

137. [LSLAM] 2020-07-08-Large-Scale Volumetric Scene Reconstruction using LiDAR

138. [VSLAM] 2020-07-14-Stereo Visual Inertial Pose Estimation Based on Feedforward-Feedback Loops

139. [VSLAM] 2020-07-14-AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot

140. [LSLAM] 2020-07-14-LOL: Lidar-only Odometry and Localization in 3D point cloud maps*

141. [LSLAM] 2020-07-14-LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

142. [Dataset] 2020-07-14-UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

143. [VSLAM] 2020-07-14-Online Photometric Calibration of Optical Flow Visual-Inertial SLAM System

144. [VSLAM] 2020-07-14-CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

145. [VSLAM] 2020-07-22-Hierarchical Clustering Matching for Features with Repetitive Patterns in Visual Odometr

146. [semantic VSLAM] 2020-07-22-VPS-SLAM: Visual Planar Semantic SLAM for Aerial Robotic Systems

147. [MSCKF based] 2020-07-22-Lightweight hybrid visual-inertial odometry with4closed-form zero velocity update

148. [FPGA] 2020-07-24-OpenCL implementation of a SLAM system on an SoC-FPGA

149. [DL-feature] 2020-07-24-Robust Place Recognition Using Illumination-compensated Image-based Deep Convolutional Autoencoder Features

150. [DL-SLAM] 2020-07-24-A Survey on Deep Learning for Localization and Mapping:Towards the Age of Spatial Machine Intelligence

151. [VSLAM] 2020-07-27-Accurate On-line Extrinsic Calibration for a Multi-camera SLAM System

152. [Feature] 2020-07-27-Learning Monocular Visual Odometry via Self-Supervised Long-Term Modeling

153. [VSLAM] 2020-07-27-ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

154. [VSLAM] 2020-07-27-Privacy Preserving Visual SLAM

155. [Feature] 2020-07-27-Online Invariance Selection for Local Feature Descriptors

156. [ROLLING SHTTER] 2020-07-29-RELATIVE POSE ESTIMATION FOR STEREO ROLLING SHUTTER CAMERAS

157. [Optimization] 2020-07-29-Incremental 3-D pose graph optimization for SLAM algorithm without marginalization

158. [Deep SLAM] 2020-08-10-Simultaneously Learning Corrections and Error Models for Geometry-based Visual Odometry Methods

159. [Deep KeyPoint] 2020-08-10-Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints code

161. [VSLAM] 2020-08-10-Pose Estimation Based on Wheel Speed Anomaly Detection in Monocular Visual-Inertial SLAM

162. [Semantic SLAM] 2020-08-10-OrcVIO: Object residual constrained Visual-Inertial Odometry

163. [Event SLAM] 2020-08-10-Event-based Stereo Visual Odometry

164. [Calibration] 2020-08-10-Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

166. [Pose graph] 2020-08-10-Cluster-based Penalty Scaling for Robust Pose Graph Optimization

167. [iSAM] 2020-08-10-Improved iSAM Based on Flexible Re-Linearization Threshold and Error Learning Model for AUV in Large Scale Areas

169. [Multi camera calibration] 2020-08-10-Infrastructure-based Multi-Camera Calibration using Radial Projections

170. [VSLAM] 2020-08-10-Online simultaneous localization and mapping with detection and tracking of moving objects

171. [Bionic eyes slam] 2020-08-10-Real-Time Robust Stereo Visual SLAM System Based on Bionic Eyes

172. [Re-localization] 2020-08-12-Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes

173. [VSLAM] 2020-08-12-A Partial Sparsification Scheme for Visual-Inertial Odometry

174. [VSLAM] 2020-08-12-Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments

175. [VSLAM] 2020-08-12-A Tightly-coupled Semantic SLAM System with Visual, Inertialand Surround-view Sensors for Autonomous Indoor Parking

176. [Multi_SLAM] 2020-08-12-Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios

177. [AR+navigation] 2020-08-12-An Augmented Reality Interaction Interface for Autonomous Drone

178. [PNP] 2020-08-20-A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem

179. [Line seg] 2020-08-20-LGNN: a Context-aware Line Segment Detector

180. [Deep Feature] 2020-08-20-DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features

181. [Calibration] 2020-08-20-On-the-fly Targetless Extrinsics Calibration For Multi-Stereo Systems Without Field-of-View Overlap

182. [DVS] 2020-08-20-IDOL: A Framework for IMU-DVS Odometry using Lines

183. [VSLAM] 2020-08-20-Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

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

185. [Line feature] 2020-08-24-Visual SLAM With Drift-Free Rotation Estimation in Manhattan World

186. [Doctor thesis] 2020-08-24-Robust Multimodal Dense SLAM

187. [AR detection] 2020-08-25-Object Detection in the Context of Mobile Augmented Reality

188. [Initialization] 2020-08-25-Renormalization for Initialization of Rolling Shutter Visual-Inertial Odometry

189. [LIC—Fusion] 2020-08-25-LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking

190. [Autodriving] 2020-08-25-Drift with Devil: Security of Multi-Sensor Fusion based Localization in High-Level Autonomous Driving under GPS Spoofing

191. [Multicamera slam] 2020-08-25-Towards Robust Multi Camera Visual Inertial Odometry

192. [Plane SLAM] 2020-09-01-Stereo Plane SLAM Based on Intersecting Lines

193. [DeepLidarFlow] 2020-09-01-DeepLiDARFlow: A Deep Learning Architecture For Scene Flow Estimation Using Monocular Camera and Sparse LiDAR

194. [Graph optimization] 2020-09-01-Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM

195. [Fast ORBSLAM] 2020-09-01-FastORB-SLAM: Fast ORB-SLAM method with Coarse-to-Fine Descriptor Independent Keypoint Matching

196. [SFM] 2020-09-05-Reducing Drift in Structure from Motion using Extended Features

197. [Place Recognition] 2020-09-05-Semantic Graph Based Place Recognition for 3D Point Clouds

198. [Dynamic] 2020-09-05-Accurate RGB-D SLAM in Dynamic Environment using ObservationallyConsistent Conditional Random Fields

199. [BA] 2020-09-05-Large Scale Photometric Bundle Adjustment

200. [Evaluation] 2020-09-11-SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding

201. [Deformable SLAM] 2020-09-11-MORPH-DSLAM: Model Order Reduction for PHysics-based Deformable SLAM

202. [UAV Simulator] 2020-09-12-Flightmare: A Flexible Quadrotor Simulator

203. [Low light feature] 2020-09-12-Retaining Image Feature Matching Performance Under Low Light Conditions

204. [VSLAM] 2020-09-21-Improving accuracy of VI-SLAM with fish-eye camera based on biases of map points

205. [Deep SLAM] 2020-09-21-Approaches, Challenges, and Applications for Deep Visual Odometry: Toward to Complicated and Emerging Areas

206. [Dataset] 2020-09-25-4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving

207. [Planar Ground Vehicles] 2020-09-25-Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles

208. [Baseline calibration] 2020-09-25-Stereo Visual Inertial Odometry with Online Baseline Calibration

209. [Attention SLAM] 2020-09-25-Attention-SLAM: A Visual Monocular SLAM Learning from Human Gaze

210. [FPGA] 2020-09-25-A Survey of FPGA-Based Robotic Computing

211. [Robust] 2020-09-25-Towards Noise Resilient SLAM

212. [Unknown Focal length] 2020-09-25-An Efficient Solution to the Perspective-n-Point Problem for Camera With Unknown Focal Length

213. [UAV mapping] 2020-09-29-OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles

214. [VSLAM] 2020-09-29-Line Flow Based SLAM

215. [Lidar mapping] 2020-09-29-Time-of-Flight LiDAR-based Precise Mapping

216. [VSLAM] 2020-09-29-Practical Persistence Reasoning in Visual SLAM

217. [Calibration] 2020-09-29-Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM

218. [Ph.D. Thesis] 2020-10-01-Long-Term Localization for Self-Driving Cars

219. [Ph.D. Thesis] 2020-10-01-Towards Robust Visual-Inertial Estimation

220. [VSLAM] 2020-10-07-Loop-box: Multi-Agent Direct SLAM Triggered by Single Loop Closure for Large-Scale Mapping

221. [VSLAM] 2020-10-13-Can You Trust Your Pose? Confidence Estimation in Visual Localization

222. [Descriptor] 2020-10-14-Descriptor Scoring for Feature Selection in Real-Time Visual Slam

223. [Fusion] 2020-10-13-Monocular Visual-Inertial-Wheel Odometry Using Low-Grade IMU in Urban Areas

224. [Dynamic VSLAM] 2020-10-14-DOT: Dynamic Object Tracking for Visual SLAM

225. [Event camera] 2020-10-13-Robust Intensity Image Reconstruciton Based On Event Cameras

226. [Event camera] 2020-10-14-Event-Based Visual Place Recognition With Ensembles of Temporal Windows

227. [Master thesis] 2020-10-16-Evaluating the Effect of Illumination on the Performance of Visual Odometry in Underground Mining Environments

228. [DVO] 2020-10-19-Bi-direction Direct RGB-D Visual Odometry

229. [Multi camera] 2020-10-19-Infrastructure-Based Multi-camera Calibration Using Radial Projections

230. [Reloc]2020-10-22-LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization

231. [Match]2020-10-22-Segmenting Epipolar Line

232. [SFM]2020-10-22-Robust Isometric Non-Rigid Structure-from-Motion

233. [Event camera]2020-10-25-Learning Monocular Dense Depth from Events

234. [Dynamic slam]2020-10-25-DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM

235. [Lidar SLAM]2020-10-25-Interactive 3D Graph SLAM for Map Correction

236. [Visual SLAM]2020-10-25-PC-VINS-MONO: A ROBUST MONO VISUAL-INERTIAL ODOMETRY WITH PHOTOMETRIC CALIBRATION

237. [Dynamic slam]2020-10-25-Semantic Flow-guided Motion Removal Method for Robust Mapping

238. [Multi_lidar]2020-11-04-Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

239. [Sensor_fusion]2020-11-04-VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach

240. [Lidar]2020-11-04-Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping

241. [Sensor_fusion]2020-11-04-LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry

242. [Lidar]2020-11-04-PSF-LO: Parameterized Semantic Features Based Lidar Odometry

243. [Stereo]2020-11-04-VINS-Stereo for the FPV Drone Racing VIO Competition 2020

244. [VSLAM]2020-11-14-SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information

245. [Ground robots]2020-11-14-GR-SLAM: Vision-Based Sensor Fusion SLAM for Ground Robots on Complex Terrain

246. [VSLAM]2020-11-16-Geometric Structure Aided Visual Inertial Localization

247. [Kimera]2020-11-16-Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping

248. [Rolling shutter]2020-11-16-Learning Rolling Shutter Correction from Real Data without Camera Motion Assumption

249. [GPU]2020-11-16-GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization

250. [Lidar Loop]2020-11-16-MinkLoc3D: Point Cloud Based Large-Scale Place Recognition

251. [Depth learning]2020-11-16-Deep Learning based Monocular Depth Prediction: Datasets, Methods and Applications

252. [Sensor Fusion] 2020-12-08-CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System

253. [Reconstruction] 2020-12-08-InstanceFusion: Real‐time Instance‐level 3D Reconstruction Using a Single RGBD Camera

254. [Feature Detector] 2020-12-12-FFD: Fast Feature Detector

255. [Descriptor] 2020-12-12-Cross-Descriptor Visual Localization and Mapping

256. [BA] 2020-12-12-Stochastic Bundle Adjustment for Efficient and Scalable 3D Reconstruction

257. [BA] 2020-12-14-Rotation-Only Bundle Adjustment

259. [BA] 2020-12-14-Novel Parameterization for Gauss–Newton Methods in 3-D Pose Graph Optimization

260. [Fusion] 2020-12-14-Plane-Edge-SLAM: Seamless Fusion of Planes and Edges for SLAM in Indoor Environments

261. [Depth] 2020-12-26-Boosting Monocular Depth Estimation with Lightweight 3D Point Fusion

262. [VIO+depth] 2020-12-26-CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth

264. [LOAM] 2020-12-26-P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment

265. [Optimization] 2020-12-26-Generalized Proximal Methods for Pose Graph Optimization

266. [Calibration] 2020-12-26-Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features

3D Reconstruction

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

4. [User-guided] 2020-05-19-User-guided 3D reconstruction using multi-view stereo

5. [Learned based] 2020-07-07-On the generalization of learning-based 3D reconstruction

6. [Large-scale] 2020-07-22-Large-scale outdoor scene reconstruction and correction with vision

7. [Deep] 2020-08-20-An Accurate, Robust Visual Odometry and Detail-preserving Reconstruction Syste

SLAM 能力图