【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。
------------ IROS 2019 下载链接------------
Calibration and Identification
A Novel Robust Approach for Correspondence-Free Extrinsic Calibration.
Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots.
Model Free Calibration of Wheeled Robots Using Gaussian Process
A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors.
Active SLAM Using Connectivity Graphs As Priors.
Map-Aware SLAM with Sparse Map Features.
RISE-SLAM: A Resource-Aware Inverse Schmidt Estimator for SLAM.
Better Lost in Transition Than Lost in Space: SLAM State Machine.
Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping.
Pose Estimation for Omni-Directional Cameras Using Sinusoid Fitting.
3D Reconstruction by Single Camera Omnidirectional Multi-Stereo System.
Metric Monocular Localization Using Signed Distance Fields.
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps.
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments.
On the Tunable Sparse Graph Solver for Pose Graph Optimization in Visual SLAM Problems.
Radar SLAM for Indoor Disaster Environments Via Multi-Modal Registration to Prior LiDAR Map.
Robot Localization Via Odometry-Assisted Ultra-Wideband Ranging with Stochastic Guarantees.
Sparse-3D Lidar Outdoor Map-Based Autonomous Vehicle Localization.
GLFP: Global Localization from a Floor Plan.
BTEL: A Binary Tree Encoding Approach for Visual Localization.
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments.
On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization and Mapping.
Decentralized Visual-Inertial Localization and Mapping on Mobile Devices for Augmented Reality.
Communication Constrained Cloud-Based Long-Term Visual Localization in Real Time.
Visual-Inertial Odometry with Point and Line Features.
Vision-Aided Localization for Ground Robots.
Rolling-Shutter Modelling for Direct Visual-Inertial Odometry.
DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping and Navigation.
2-Entity RANSAC for Robust Visual Localization in Changing Environment.
DeepPCO: End-To-End Point Cloud Odometry through Deep Parallel Neural Network.
OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios.
Filter Early, Match Late: Improving Network-Based Visual Place Recognition.
Degeneracy in Self-Calibration Revisited and a Deep Learning Solution for Uncalibrated SLAM.
SGANVO: Unsupervised Deep Visual Odometry and Depth Estimation with Stacked Generative Adversarial Networks
Robust Loop Closure Detection Based on Bag of SuperPoints and Graph Verification.
Deep Supervised Hashing with Similar Hierarchy for Place Recognition.
Learning Local Feature Descriptor with Motion Attribute for Vision-Based Localization.
Robust and Efficient Vehicles Motion Estimation with Low-Cost Multi-Camera and Odometer-Gyroscope.
Monocular Object and Plane SLAM in Structured Environments.
CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient
(https://github.com/rpng/calc2.0)
Camera Pose Estimation with Semantic 3D Model.
Accelerated Visual Inertial Navigation Via Fragmented Structure Updates.
Long-Term Visual Inertial SLAM Based on Time Series Map Prediction.
Data Flow ORB-SLAM for Real-Time Performance on Embedded GPU Boards.
(https://github.com/xaldyz/dataflow-orbslam)
A Robust Stereo Semi-Direct SLAM System Based on Hybrid Pyramid.
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
Visual-Inertial Odometry Tightly Coupled with Wheel Encoder Adopting Robust Initialization and Online Extrinsic Calibration.
The Road Is Enough! Extrinsic Calibration of Non-Overlapping Stereo Camera and LiDAR Using Road Information.
LIC-Fusion: LiDAR-Inertial-Camera Odometry.
FA-Harris: A Fast and Asynchronous Corner Detector for Event Cameras.
Rapid and Robust Monocular Visual-Inertial Initialization with Gravity Estimation Via Vertical Edges.
A Unified Formulation for Visual Odometry.
An Efficient and Accurate Algorithm for the Perspective-N-Point Problem.
ORBSLAM-Atlas: A Robust and Accurate Multi-Map System.
Sparse Depth Enhanced Direct Thermal-Infrared SLAM Beyond the Visible Spectrum.
Robust High Accuracy Visual-Inertial-Laser SLAM System.
Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion.
Real-Time Dense Depth Estimation Using Semantically-Guided LIDAR Data Propagation and Motion Stereo.
Non-Parametric Mixed-Manifold Products Using Multiscale Kernel Densities.
Perception System Design for Low-Cost Commercial Ground Robots: Sensor Configurations, Calibration, Localization, and Mapping.
Visual-Inertial Localization with Prior LiDAR Map Constraints.
Extending Monocular Visual Odometry to Stereo Camera Systems by Scale Optimization.
Line-Based Absolute and Relative Camera Pose Estimation in Structured Environments.
Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion.
A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions.
LiDAR-Flow: Dense Scene Flow Estimation from Sparse LiDAR and Stereo Images.
View Management for Lifelong Visual Maps.
TerrainFusion: Real-Time Digital Surface Model Reconstruction Based on Monocular SLAM.
Predictive Inverse Kinematics: Optimizing Future Trajectory through Implicit Time #### Integration and Future Jacobian Estimation.
Computing 3D From-Region Visibility Using Visibility Integrity.
Edge-Preserving Camera Trajectories for Improved Optical Character Recognition on Static Scenes with Text.
Virtual Region Based Multi-Robot Path Planning in an Unknown Occluded Environment.
Fast Trajectory Planning for Multiple Quadrotors Using Relative Safe Flight Corridor.
Coverage Path Planning Using Path Primitive Sampling and Primitive Coverage Graph for Visual Inspection.
RINS-W: Robust Inertial Navigation System on Wheels.
Maximum Likelihood Path Planning for Fast Aerial Maneuvers and Collision Avoidance.
Graph-Based Path Planning for Autonomous Robotic Exploration in Subterranean Environments.
Constrained Heterogeneous Vehicle Path Planning for Large-Area Coverage.
Combining Stochastic Optimization and Frontiers for Aerial Multi-Robot Exploration of 3D Terrains.
Optimal Temporal Logic Planning for Multi-Robot Systems in Uncertain Semantic Maps.
Multi Robot Route Planning (MRRP): Extended Spatial-Temporal Prioritized Planning.
An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem.
Scheduling of Mobile Workstations for Overlapping Production Time and Delivery Time.
------------ IROS 2019 终止线 ----------
------------ ICRA 2019 重磅来袭 吐血整理关于SLAM部分 下载链接----------
0031 Aided Inertial Navigation - Unified Feature Representations and Observability Analysis
0036 Learning Wheel Odometry and IMU Errors for Localization
0041 MH-iSAM2 - Multi-Hypothesis iSAM Using Bayes Tree and Hypo-Tree
0060 Deep Reinforcement Learning of Navigation in a Complex and Crowded Environment with a Limited Field of View
0078 Living with a Mobile Companion Robot in Your Own Apartment - Final Implementation and Results of a 20-Weeks Field Study
0095 Visual SLAM - Why Bundle Adjust
0118 Project AutoVision - Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
0120 A Kalman Filter-Based Algorithm for Simultaneous Time Synchronization and Localization in UWB Network
0122 Pose Graph Optimization for Unsupervised Monocular Visual Odometry
0193 Learning Ad-Hoc Compact Representations from Salient Landmarks for Visual Place Recognition in Underwater Environments
0212 A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM
0215 Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot
0239 Tightly Coupled 3D Lidar Inertial Odometry and Mapping
0251 Fast Stochastic Functional Path Planning in Occupancy Maps
0257 A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures
0306 FMD Stereo SLAM - Fusing MVG and Direct Formulation towards Accurate and Fast Stereo SLAM
0317 Lidar Measurement Bias Estimation Via Return Waveform Modelling in a Context of 3D Mapping
0326 Rorg - Service Robot Software Management with Linux Containers
0336 Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving
0353 Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation
0355 Enabling Identity-Aware Tracking Via Fusion of Visual and Inertial Feature
0362 A New Approach to Local Navigation for Autonomous Driving Vehicles Based on the Curvature Velocity Method
0371 LookUP - Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles
0378 Uncertainty Estimation for Projecting Lidar Points Onto Camera Images for Moving Platforms
0389 Efficient Integrity Monitoring for KF-Based Localization
0390 SweepNet - Wide-Baseline Omnidirectional Depth Estimation
0395 3D Surface Reconstruction Using a Two-Step Stereo Matching Method Assisted with Five Projected Patterns
0431 Road Detection through CRF based LiDAR-Camera Fusion
0434 Real-Time Model Based Path Planning for Wheeled Vehicles
0448 Improving Keypoint Matching Using a Landmark-Based Image Representation
0467 Adding Cues to Binary Feature Descriptors for Visual Place Recognition
0508 Fast and Robust Initialization for Visual-Inertial SLAM
0522 ScalableFusion - High-Resolution Mesh-Based Real-Time 3D Reconstruction
0549 High-Precision Localization Using Ground Texture
0552 Actively Improving Robot Navigation on Different Terrains Using Gaussian Process Mixture Models
0561 KO-Fusion - Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking
0589 Learning Scene Geometry for Visual Localization in Challenging Conditions
0595 CNN-SVO - Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction
0613 Learning Action Representations for Self-supervised Visual Exploration
0636 Robust Object-Based SLAM for High-Speed Autonomous Navigation
0658 A Scalable Framework For Real-Time Multi-Robot Multi-Human Collision Avoidance
0660 SuperDepth - Self-Supervised Super-Resolved Monocular Depth Estimation
0666 Safe and Complete Real-Time Planning and Exploration in Unknown Environments
0674 Visual-Inertial Navigation - A Concise Review
0697 Uncertainty-Aware Occupancy Map Prediction Using Generative Networks for Robot Navigation
0700 Illumination Robust Monocular Direct Visual Odometry for Outdoor Environment Mapping
0717 GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping
0782 A Comparison of CNN-Based and Hand-Crafted Keypoint Descriptors
0783 IN2LAMA - INertial Lidar Localisation and MApping
0798 Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection
0860 Semantic Mapping for View-Invariant Relocalization
0862 Robotic Forceps without Position Sensors Using Visual SLAM
0867 Environment Driven Underwater Camera-IMU Calibration for Monocular Visual-Inertial SLAM
0897 Dense 3D Visual Mapping Via Semantic Simplification
0903 Redundant Perception and State Estimation for Reliable Autonomous Racing
0954 Semantic Mapping Extension for OpenStreetMap Applied to Indoor Robot Navigation
0968 Multirotor Dynamics Based Online Scale Estimation for Monocular SLAM
0970 UWBLiDAR Fusion for Cooperative Range-Only SLAM
0979 A Supervised Approach to Predicting Noise in Depth Images
0999 Dynamic Hilbert Maps - Real-Time Occupancy Predictions in Changing Environments
1008 Learning Monocular Visual Odometry through Geometry-Aware Curriculum Learning
1036 A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation
1045 Leveraging Structural Regularity of Atlanta World for Monocular SLAM
1072 Improving the Robustness of Visual-Inertial Extended Kalman Filtering
1073 ATLAS FaST - Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization
1086 Visual Appearance Analysis of Forest Scenes for Monocular SLAM
1090 Closed-Loop MPC with Dense Visual SLAM - Stability through Reactive Stepping
1092 Pedestrian Dominance Modeling for Socially-Aware Robot Navigation
1105 Energy-Aware Temporal Logic Motion Planning for Mobile Robots
1126 Real-Time Dense Mapping for Self-Driving Vehicles Using Fisheye Cameras
1129 RESLAM - A Real-Time Robust Edge-Based SLAM System
1143 Dense Surface Reconstruction from Monocular Vision and LiDAR
1147 Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB
1173 Depth Completion with Deep Geometry and Context Guidance
1176 Learned Map Prediction for Enhanced Mobile Robot Exploration
1204 DeepFusion - Real-Time Dense 3D Reconstruction for Monocular SLAM Using Single-View Depth and Gradient Predictions
1211 Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements
1247 Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry
1265 Adaptive Bingham Distribution Based Filter for SE(3) Estimation
1267 MID-Fusion - Octree-Based Object-Level Multi-Instance Dynamic SLAM
1278 Autonomous Exploration Reconstruction and Surveillance of 3D Environments Aided by Deep Learning
1322 Speeding up Iterative Closest Point Using Stochastic Gradient Descen
1324 Building a Winning Self-Driving Car in Six Months
1327 Obstacle-Aware Adaptive Informative Path Planning for UAV-Based Target Search
1340 OVPC Mesh - 3D Free-Space Representation for Local Ground VehicleNavigation
1358 Multi-Robot Informative Path Planning with Continuous Connectivity Constraints
1365 Look No Deeper - Recognizing Places from Opposing Viewpoints under Varying Scene Appearance Using Single-View Depth Estimation
1380 GANVO - Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks
1381 Efficient Constellation-Based Map-Merging for Semantic SLAM
1383 Multimodal Semantic SLAM with Probabilistic Data Associatio
1422 Surfel-Based Dense RGB-D Reconstruction with Global and Local Consistency
1448 3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM
1458 Characterizing Visual Localization and Mapping Datasets
1549 A-SLAM - Human-In-The-Loop Augmented SLAM
1555 Dynamic Channel - A Planning Framework for Crowd Navigation
1560 2D LiDAR Map Prediction Via Estimating Motion Flow with GRU
1567 Efficient 2D-3D Matching for Multi-Camera Visual Localization
1593 Where Should We Place LiDARs on the Autonomous Vehicle - An Optimal Design Approach
1599 Efficient Trajectory Planning for High Speed Flight in Unknown Environments
1607 Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints
1636 Depth Generation Network - Estimating Real World Depth from Stereo and Depth Images
1688 Localizing Discriminative Visual Landmarks for Place Recognition
1697 ROVO - Robust Omnidirectional Visual Odometry for Wide-Baseline Wide-FOV Camera Systems
1751 Non-Parametric Error Modeling for Ultra-Wideband Localization Networks
1760 RCM-SLAM - Visual Localisation and Mapping under Remote Centre of Motion Constraints
1784 Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration
1808 CoLo - A Performance Evaluation System for Multi-Robot Cooperative Localization Algorithms
1827 Variational End-To-End Navigation and Localization
1870 SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding
1891 Real-Time Monocular Object-Model Aware Sparse SLAM
1937 Tightly-Coupled Aided Inertial Navigation with Point and Plane Features
1942 RaD-VIO - Rangefinder-aided Downward Visual-Inertial Odometry
1946 Beyond Point Clouds - Fisher Information Field for Active Visual Localization
1954 Deep Local Trajectory Replanning and Control for Robot Navigation
1977 FastDepth - Fast Monocular Depth Estimation on Embedded Systems
2006 Probabilistic Projective Association and Semantic Guided Relocalization for Dense Reconstruction
2009 Kinematic Constraints Based Bi-Directional RRT (KB-RRT) with Parameterized Trajectories for Robot Path Planning in Cluttered Environment
2044 MRS-VPR - A Multi-Resolution Sampling Based Visual Place Recognition Method
2045 Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-Denied Environments
2111 Keyframe-Based Direct Thermal Inertial Odometry
2139 Self-Supervised Sparse-To-Dense - Self-Supervised Depth Completion from LiDAR and Monocular Camera
2143 A Multi-Domain Feature Learning Method for Visual Place Recognition
2162 Real-Time Scalable Dense Surfel Mapping
2186 Global Vision-Based Reconstruction of Three-Dimensional Road Surfaces Using Adaptive Extended Kalman Filter
2207 An Autonomous Loop-Closure Approach for Simultaneous Exploration and Coverage of Unknown Infrastructure Using MAVs
2334 Probabilistic Appearance-Based Place Recognition Through Bag of Tracked Words
2335 Robust Pose-Graph SLAM Using Absolute Orientation Sensing
2354 Monocular Semantic Occupancy Grid Mapping with Convolutional Variational Encoder-Decoder Networks
2358 Sparse2Dense - From Direct Sparse Odometry to Dense 3D Reconstruction
2381 Local Descriptor for Robust Place Recognition Using LiDAR Intensity
2390 Decentralized Full Coverage of Unknown Areas by Multiple Robots with Limited Visibility Sensing
2394 Enhancing V-SLAM Keyframe Selection with an Efficient ConvNet for Semantic Analysis
2410 Loosely-Coupled Semi-Direct Monocular SLAM
2533 Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks
2540 On-Line 3D Active Pose-Graph SLAM Based on Key Poses Using Graph Topology and Sub-Maps
2545 Low-Latency Visual SLAM with Appearance-Enhanced Local Map Building
2552 Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
2554 Iteratively Reweighted Midpoint Method for Fast Multiple View Triangulation
2559 Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms with Time Delay Estimation
2643 Efficient Autonomous Exploration Planning of Large Scale 3D-Environments
2645 Deep Reinforcement Learning Robot for Search and Rescue Applications - Exploration in Unknown Cluttered Environments
2685 Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems
2703 Geometric Relation Distribution for Place Recognition
2717 Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments
2873 Multi-Process Fusion - Visual Place Recognition Using Multiple Image Processing Methods
2877 Geo-Supervised Visual Depth Prediction
2886 Effective Visual Place Recognition Using Multi-Sequence Maps
2894 Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation
2897 On the Impact of Uncertainty for Path Planning
2901 Multi-Robot Motion Planning with Dynamics Via Coordinated Sampling-Based Expansion Guided by Multi-Agent Search
2911 Energy-Efficient Coverage Path Planning for General Terrain Surfaces
2943 VUNet - Dynamic Scene View Synthesis for Traversability Estimation Using an RGB Camera
2948 Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter
2985 1-Day Learning 1-Year Localization - Long-Term LiDAR Localization Using Scan Context Image
2992 Robust Global Structure from Motion Pipeline with Parallax on Manifold Bundle Adjustment and Initialization
3117 Learning Scene Geometry for Visual Localization in Challenging Conditions
3118 Geo-Supervised Visual Depth Prediction
3130 Search-Based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight under Sensor Visibility Constraints
------------ ICRA 2019 终止线 ----------
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. 2019-03-13-A Fuzzy-Innovation-Based Adaptive Kalman Filter for Enhanced Vehicle Positioning in Dense Urban Environments