Recent_SLAM_Research

【回馈社区】跟踪SLAM前沿动态(2019), 2018版 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。

招聘

即将上市机器人独角兽广招SLAM算法工程师。 欢迎wechat骚扰：sinnature 邮箱：easonjianghk@gmail.com

SLAM 能力图

SLAM

74. 2019-05-28-Robust simultaneous localization and mapping in low-light environment 提取两种特征点解决光照问题

73. 2019-05-28-An Extensive Approach to Features Detection and Description for 2D Range Data using Active B-splines

72. 2019-05-28-Low-latency Visual SLAM with Appearance-Enhanced Local Map Building

71. 2019-05-28-Characterizing SLAM Benchmarks and Methods for the Robust Perception Age

70. 2019-05-24-RGBD-Inertial Trajectory Estimation and Mapping for Ground RobotsRGBD+IMU,基于VINS_MONO

69. 2019-05-24-A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM 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

68. 2019-05-24-Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power 低功耗 VINS

67. 2019-05-24-Explorations and Lessons Learned in Building an Autonomous FormulaSAEa Car from Simulations学生方程式赛车学习

66. 2019-05-24-Low-cost IMU Data Denoising using Savitzky-Golay FiltersIMU数据降噪

65. 2019-05-20-AMZ Driverless: The Full Autonomous Racing System ETH赛车

64. 2019-05-20-ROS-based localization of a race vehicle at high-speed using LIDARTUM赛车

63. 2019-05-20-An Open Source and Open Hardware Deep Learning-powered Visual Navigation Engine for Autonomous Nano-UAVsETH最小无人机自动导航

62. 2019-05-20-DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration百度无人车团队DeepICP

61. 2019-05-20-3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM南加州大学基于3D点云的特征点

60. 2019-05-14-Monocular Semidirect Visual Odometry for Large-scale Outdoor Localization

59. 2019-05-14-CREAK descriptor evaluation for visual odometry CREAK 描述子测试

58. 2019-05-05-Humanoid Robot Dense RGB-D SLAM for Embedded Devices* 使用RGBD+IMU+Encoder做Nao机器人状态估计

57. 2019-04-29-Structure Aware SLAM using Quadrics and Planes

56. 2019-04-29-VITAMIN-E: VIsual Tracking And MappINg with Extremely Dense Feature Points 很鲁棒的单目三维重建

55. 2019-04-26-Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics? 关于回环检测的综述

54. 2019-04-23-An Improved Hector SLAM Algorithm based on Information Fusion for Mobile Robot

53. 2019-04-23-Robust RGB-D Visual Odometry Based on the Line Intersection Structure Feature in Low-Textured Scenes

52. 2019-04-23-Object Recognition and Simultaneous Indoor Localization Algorithm with Stereo Camera

51. 2019-04-23-Learning Whole-Image Descriptors for Real-time Loop Detection and Kidnap Recovery under Large Viewpoint Difference 港科大弱监督(NetVLAD)下的重定位恢复

50. 2019-04-23-Visual-Inertial Mapping with Non-Linear Factor Recovery

49. 2019-04-23-Direct Sparse Mapping 带有回环检测的稀疏直接法

48. 2019-04-23-Gyroscope-aided Relative Pose Estimation for Rolling Shutter Cameras 使用IMU解决卷帘快门图像问题

47. 2019-04-17-Adaptive SLAM with synthetic stereo dataset generation for real-time dense 3D reconstruction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

46. 2019-04-17-Robust Legged Robot State Estimation Using Factor Graph Optimization Anymal 四足机器人定位算法

45. 2019-04-11-Stereo camera visual odometry for moving urban environments

44. 2019-04-11-Online IMU Self-Calibration for Visual-Inertial Systems

43. 2019-04-02-KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric TrackingDyson 和 Imprial college 研发的RGBD融合底盘dense slam

42. 2019-04-02-SlamCraft: Dense Planar RGB Monocular SLAM

41. 2019-03-29-Learning 3D Semantic Reconstruction on OctreesETH wang xiaojuan三维语义重建硕士论文

40. 2019-03-29-An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM

39. 2019-03-29-Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions关于回环检测的综述

38. 2019-03-29-Wheelchair robot navigation in different weather conditions using deep learning and evolved neural controller

37. 2019-03-29-Pragma-Oriented Parallelization of the Direct Sparse Odometry SLAM Algorithm

36. 2019-03-25-FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM

35. 2019-03-21-Spatiotemporal Decoupling Based LiDARCamera Calibration under Arbitrary Configurations

34. 2019-03-21-An Accurate Localization Scheme for Mobile Robots Using Optical Flow in Dynamic Environments

33. 2019-03-16-2-Entity RANSAC for robust visual localization in changing environment

32. 2019-03-16-A Unified Formulation for Visual Odometry 综合直接法和间接法

31. 2019-03-13-Nonparametric Statistical and Clustering Based RGB-D Dense Visual Odometry in a Dynamic Environment多帧残差模型处理动态物体

30. 2019-03-13-3D Reconstruction and Texture Optimization Using a Sparse Set of RGB-D Cameras

29. 2019-03-13-EGO-SLAM: A Robust Monocular SLAM for Egocentric Videos

28. 2019-03-11-Real-Time Visual Odometry Covariance Estimation or Unmanned Air Vehicle Navigation

27. 2019-03-11-Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry单目估计尺度

26. 2019-03-11-Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities出自MIT，在VIO中根据三角剖分加入结构化特征

25. 2019-03-08-ROVO: Robust Omnidirectional Visual Odometry for Wide-baseline Wide-FOV Camera Systems多目鱼眼SLAM

24. 2019-03-08-Robust RGB-D Odometry under Depth Uncertainty for Structured Environments 博士论文处理RGBD深度误差

23. 2019-03-08-Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping激光在山洞容易失效，双目可以增强某些场景

22. 2019-03-08-Double-Layer Cubature Kalman Filter for Nonlinear Estimation

21. 2019-03-08-A Vertex-to-Edge Weighted Closed-Form Method for Dense RGB-D Indoor SLAM

20. 2019-02-28-Vision Sensor Aided Navigation for Ground Vehicle Applications Liu Zhenbo 博士毕业论文讲的很仔细

19. 2019-02-28-GSLAM: A General SLAM Framework and Benchmark 兼容多种框架的框架。。。

18. 2019-02-26-A lightweight and scalable visual‑inertial motion capture system using fducial markers二维码加IMU

17. 2019-02-21-Robust 3D Indoor Map Building via RGB-D SLAM with Adaptive IMU Fusion on Robot 简单直接的融合方式

16. 2019-02-18-UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers融合视觉与二维码标签SLAM，代码

15. 2019-02-14-Visual SLAM: Why Bundle Adjust?Ian Reid的改进版BA

14. 2019-02-14-A real-time visual-inertial mapping and localization method by fusing unstable GPS 根据GPS信号可信度调整优化方法

13. 2019-02-14-Comparison and Analysis of Feature Method and Direct Method in Visual SLAM Technology for Social Robots对比直接法与特征点法

12. 2019-01-30-Multi-objective Mapping and Path Planning using Visual SLAM and Object Detection 一篇硕士论文

11. 2019-01-30-Extrinsic Calibration of Lidar and Camera with Polygon 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

10. 2019-01-30-Robust Photogeometric Localization over Time for Map-Centric Loop Closure解决map-centric slam回环问题

9. 2019-01-25-A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns 多个RGBD相机外参标定

8. 2019-01-25-SLAM of Robot based on the Fusion of Vision and LIDARRGBD 与lidar 融合，好像只是处理逻辑关系判断，没有深度融合

7. 2019-01-25-ADAPTIVE FILTERING FOR VISION-AIDED INERTIAL NAVIGATION 佐治亚理工博士论文，关于自适应卡尔曼滤波

6. 2019-01-25-Loosely-Coupled Semi-Direct Monocular SLAM 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

5. 2019-01-25-Visual-Inertial SLAM Initialization: A General Linear Formulation and a Gravity-Observing Non-Linear Optimization Javier Civera 关于视觉惯导初始化问题的研究

4. 2019-01-11-SDVL: Efficient and Accurate Semi-Direct Visual Localization 直接法与特征点法混合

3. 2019-01-11-A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors 双目VINS

2. 2019-01-11-A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors 港科大多传感器融合

1. 2019-01-09-Factor Graphs for Flexible Inference in Robotics and Vision Dellaert, Frank视频详解因子图，他也是牛逼的SKYDIO 的开发者之一

Deep SLAM

22. 2019-05-09-EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association处理动态物体三维重建

21. 2019-05-09GN-Net: The Gauss-Newton Loss for Deep Direct SLAMDaniel Cremers 所作,在帧间tracking时replace the image I with a feature map computed by a deep neural network.

20. 2019-04-26-Deep Sensor Fusion between 2D Laser Scanner and IMU for Mobile Robot Localization

19. 2019-04-26-LO-Net: Deep Real-time Lidar Odometry

18. 2019-04-23-AI-IMU Dead-Reckoning只利用IMU做航迹推算,使用了卡尔曼滤波和神经网络

17. 2019-04-23-Localizing Discriminative Visual Landmarks for Place Recognition回环检测

16. 2019-04-23-Recurrent Neural Network for (Un-)supervised Learning of Monocular Video Visual Odometry and Depth

15. 2019-04-19-Semantic Nearest Neighbor Fields for Monocular Edge Visual-Odometry带有语义信息的几何边融入到VO中

14. 2019-04-17-VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP

13. 2019-04-17-Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization Wolfram Burgard 学生博士论文,主要讲述分割网络以及在SLAM中的应用

12. 2019-04-11-Beyond Tracking:Selecting Memory and Refining Poses for Deep Visual Odometry 商汤北大合作

11. 2019-04-02-Unsupervised Learning of Accurate Camera Pose and Depth From Video Sequences With Kalman Filter

10. 2019-03-25-Pose Graph Optimization for Unsupervised Monocular Visual Odometry

9. 2019-03-16-Sparse Representations for Object and Ego-motion Estimation in Dynamic Scenes

8. 2019-03-08-DeepLO: Geometry-Aware Deep LiDAR Odometry基于深度学习的三维激光SLAM

7. 2019-03-08-A Generative Map for Image-based Camera Localization

6. 2019-03-08-GCNv2: Efficient Correspondence Prediction for Real-Time SLAM 网络生成ORB特征点，融合ORBSLAM里面去。code

5. 2019-02-15-Semantic and 3D Understanding of a Scene for Robot Perception 硕士论文

4. 2019-02-14-VUNet: Dynamic Scene View Synthesis for Traversability Estimation using an RGB Camera估计机器人未来可通行区域

3. 2019-02-13-GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping

2. 2019-01-25-Towards Building the Semantic Map from a Monocular Camera with a Multi-task Network 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

1. 2019-01-22-DF-SLAM: A Deep-Learning Enhanced Visual SLAM System based on Deep Local Features

3D Reconstruction

7. 2019-05-14-ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals

6. 2019-04-02-TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo

5. 2019-03-25-Robust and affordable localization and mapping for 3D reconstruction. Application to architecture and construction

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

3. 2019-02-13-Comparative analysis of properties of LiDAR-based point clouds versus camerabased point clouds for 3D reconstruction using SLAM algorithms激光点云与RGBD点云对比

2. 2019-01-12-Real-time Monocular Dense Mapping of Small Scenes with ORB Features 单目ORB SLAM重建

1. 2019-01-12-NRMVS: Non-Rigid Multi-View Stereo 根据不同视角RGB图像对变形物体三维重建

Auto driving

10. 2019-05-14-Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph 优于LOAM的3D laser SLAM

9. 2019-05-09-Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences 标定相机与三维激光雷达

8. 2019-05-09-A Novel Dual-Lidar Calibration Algorithm Using Planar Surfaces 标定双激光雷达

7. 2019-05-09-DeLiO: Decoupled LiDAR Odometry 把旋转和平移分开求解

6. 2019-04-23-Tightly Coupled 3D Lidar Inertial Odometry and Mapping港科大lidar融合IMU建图

5. 2019-03-13-Lidar-Monocular Visual Odometry with Genetic Algorithm for Parameter Optimization在线实时优化参数

4. 2019-03-13-An Interactive LiDAR to Camera Calibration 雷达相机外参标定

3. 2019-03-13-A Fuzzy-Innovation-Based Adaptive Kalman Filter for Enhanced Vehicle Positioning in Dense Urban Environments

2. 2019-01-25-Sensor fusion for localization of automated vehicles 德国Bonn大学自动驾驶多传感器融合博士论文

1. 2019-01-24-Self-Driving Cars: A Survey

Path Planning

12. 2019-04-29-Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps

11. 2019-04-26-Deep Local Trajectory Replanning and Control for Robot Navigation

10. 2019-04-23-A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots

9. 2019-04-19-Confidence random tree-based algorithm for mobile robot path planning considering the path length and safety

8. 2019-04-19-Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design更激进且安全的路径规划

7. 2019-04-15-Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments

6. 2019-03-08-Autonomous Robotic Exploration by Incremental Road Map Construction港中文港科大合作出品

5. 2019-02-18-Efficient Autonomous Exploration Planning of Large Scale 3D-Environments. Frontier Exploration planning (FEP) 与 Receding Horizon Next-Best-View planning (RH-NBVP)方法融合做自主探索

4. 2019-02-15-Motion Planning for Micro Aerial Vehicles宾大liu sikang博士论文，导师Kumar

3. 2019-02-14-A Novel GRU-RNN Network Model for Dynamic Path Planning of Mobile Robot 全名Gated Recurrent Unit-Recurrent Neural Network (GRU-RNN)

2. 2019-02-13-Improving the Hybrid A* method for a non-holonomic wheeled robot增强混合A星算法

1. 2019-01-25-Planning Algorithms for Multi-Robot Active Perception 悉尼大学多机器人主动感知路径规划

Others.

9. 2019-04-29-MapperBot / iSCAN: Open-Source Integrated Robotic Platform and Algorithm for 2D Mapping

8. 2019-04-29-Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation*

7. 2019-04-19-An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Mapping

6. 2019-03-25-Distributed Kalman-filtering: Distributed optimization viewpoint

5. 2018-03-08-UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2019) UC 圣地亚哥大学机器人感知运动估计课程

4. 2018-02-25-Robust Harris Detector Corresponding and Calculates the Projection Error Using the Modification of the Weighting Function多层权重函数增强本质矩阵计算准确度

3. 2019-02-25-MC2SLAM: Real-Time Inertial Lidar Odometry Using Two-Scan Motion Compensation 激光IMU紧耦合方案，声称KITTI数据集top5，且放出了数据集。

2. 2019-02-18-GPS/LiDAR Sensor Fusion Integrity: A Top-Down Approach GPS 激光融合

1. 2019-01-25-Ultra-wideband-based Navigation for Unmanned Aerial Vehicles 南洋理工UWB定位博士论文