Recent_SLAM_Research

【回馈社区】跟踪SLAM前沿动态 （2017-2018），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。

预警！！这是广告位

1.如果你是HR，欢迎开issue贴上招聘广告

2.如果你是攻城狮，欢迎开issue求职

3.机器人独角兽企业，长期招聘算法工程师，有意微信sinnature

SLAM 能力图

战斗吧

Visual SLAM

72. 2018-10-09-Illumination Robust Monocular Direct Visual Odometry for Outdoor Environment Mapping 增强室外光照鲁棒性

71. 2018-10-08-Review of Wheeled Mobile Robots’ Navigation Problems and Application Prospects in Agriculture 路径规划review

70. 2018-09-28-Visual Multimodal Odometry: Robust Visual Odometry in Harsh Environments

69. 2018-09-28-Real-time Graph-Based 3D Reconstruction of Sparse Feature Environments for Mobile Robot Applications

68. 2018-09-26-Linear SLAM: Linearising the SLAM Problems using Submap Joining 创建大地图，有代码在openslam上，但是没找到

67. 2018-09-26-Gaze Selection for Enhanced Visual Odometry During Navigation 控制机器人“眼球”看向特征点多的地方

66. 2018-09-26-GPU-accelerated feature tracking for 3D reconstruction GPU 加速

65. 2018-09-25-Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones 能耗更小的VIO系统

64. 2018-09-25-Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System

63. 2018-09-17-Efficient 2D-3D Matching for Multi-Camera Visual Localization 已有地图时，做定位.

62. 2018-09-17-DSVO: Direct Stereo Visual Odometry没有双目的matching，另一个摄像头的作用是优化尺度,代码在此.

61. [CVPR 2018] Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction Ian Reid出品，代码在此。

60. [CVPR 2018] InLoc: Indoor Visual Localization with Dense Matching and View Synthesis 已知3Dmap做定位

59. [CVPR 2018] Polarimetric Dense Monocular SLAM 偏振光传感器SLAM，传感器原理

58. [CVPR 2018] Semantic Visual Localization

57. [CVPR 2018] CodeSLAM — Learning a Compact, Optimisable Representation for Dense Visual SLAM

56. [CVPR 2018] Fast Monte-Carlo Localization on Aerial Vehicles usingApproximate Continuous Belief Representations 粒子滤波viusal+IMU

55. [CVPR 2018] ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM新的优化库

54. [CVPR 2018] Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions 针对于场景变化较大时，例如四季变换的SLAM数据集

53. [ICRA 2018] Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM 单目IMU自动标定，老铁知道比VINS好在哪里么

52. [ICRA 2018] Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints

51. [ICRA 2018] Assigning Visual Words to Places for Loop Closure Detection 使用GNG clustering algorithm

50. [ICRA 2018] Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial 沈老师连续两篇路径规划

49. [ICRA 2018] Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

48. [ICRA 2018] Feature-constrained Active Visual SLAM for Mobile Robot Navigation路径规划时候考虑特征点数量,代码在此

47. [ICRA 2018] A Monocular SLAM System Leveraging Structural Regularity in Manhattan World国内慢慢也有实验室开源了原理与code

46. [ICRA 2018] Monocular Visual Odometry Scale Recovery using Geometrical Constraint

45. [ICRA 2018] Detection and Resolution of Motion Conflict in Visual Inertial Odometry 解决视觉与IMU估计值之间冲突问题

----------ECCV 2018【都无代码，可惜】----------

44. 2018-09-14-Realtime Time Synchronized Event-based Stereo 双目事件相机，第一家吧

43. 2018-09-14-Stereo relative pose from line and point feature triplets 点线结合，但是匹配的是三帧图像

42. 2018-09-14-Fast and Accurate Camera Covariance Computation for Large 3D Reconstruction 以数学为切入点，难懂

41. 2018-09-14-Structure-from-Motion-Aware PatchMatch for Adaptive Optical Flow Estimation 三维重建方向

40. 2018-09-14-Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving 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

39. 2018-09-14-Scale-Awareness of Light Field Camera based Visual Odometry 传感器特殊，使用光场相机

38. 2018-09-14-Semantically Aware Urban 3D Reconstruction with Plane-Based Regularization 最近都很喜欢加平面信息做SLAM

37. 2018-09-14-VSO: Visual Semantic Odometry 题目越短，文章越牛逼？

36. 2018-09-14-Direct Sparse Odometry with Rolling Shutter 同样是Cremers出品，看题目就知道了

35. 2018-09-14-Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-Inertial Odometry 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

34. 2018-09-14-Deep Virtual Stereo Odometry:Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry Cremers出品，用单目深度估计+DSO

33. 2018-09-14-Good Line Cutting: towards Accurate Pose Tracking of Line-assisted VO/VSLAM 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

32. 2018-09-14-Linear RGB-D SLAM for Planar Environments 卡尔曼滤波估计位姿与平面特征

----------ECCV 2018 ----------

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

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

29. UFSM_VO: STEREO ODOMETRY BASED ON UNIFORMLY FEATURE SELECTION AND STRICTLY CORRESPONDENCE MATCHING： 创新度一般

28. A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives： VINSLAM 综述

27. A Loop Closure Detection Algorithm in Dynamic Scene： 动态环境下回环检测

26. Directional grid maps: modeling multimodal angular uncertainty in dynamic environments

25. Grid Map Guided Indoor 3D Reconstruction for Mobile Robots with RGB-D Sensors

24. Robustness Improvement of Long Range Landmark Tracking for Mobile Robots

23. Lightweight Visual Odometry for Autonomous Mobile Robots

22. Enhanced Visual Loop Closing for Laser-Based SLAM

21. A Fast Stereo Visual-Inertial Odometry for MAVs

20. Low-Cost Multiple-MAV SLAM Using Open Source Software

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

18. Comparison of two different objective functions in 2D point feature SLAM

17. Pose Estimation with Dual Quaternions and Iterative Closest Point

16. SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM https://github.com/pamela-project/slambench2

15. Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion

14. Data-Efficient Decentralized Visual SLAM https://github.com/uzh-rpg/dslam_open

13. Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization

12. A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration : https://gitlab.com/srrg-software/srrg_mpr

11. ProSLAM: Graph SLAM from a Programmer's Perspective: 改变数据结构，计算资源更少https://gitlab.com/srrg-software/srrg_proslam/tree/master

10. DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System

9. A Robust and Accurate Simultaneous Localization and Mapping System for RGB-D Cameras

8. Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM （对于光照变化很鲁棒）

7. Direct Sparse Odometry with Rolling Shutter

6. Online Temporal Calibration for Monocular Visual-Inertial Systems

5. PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features

4. Gaoxiang: LDSO: Direct Sparse Odometry with Loop Closure 带有回环检测的DSO

3. MULTICOL-SLAM - A MODULAR REAL-TIME MULTI-CAMERA SLAM SYSTEM

2. Loosely-Coupled Semi-Direct Monocular SLAM

1. Absolute Orientation and Localization Estimation from an Omnidirectional Image

路径规划导航

1. 2018-10-08-Path Planning for Mobile Agents Using a Genetic Algorithm with a Direction Guided Factor

基础工具 Basic tools

17. 2018-10-08-An improved SIFT algorithm based on adaptive fractional differential

16. 2018-10-08-A Tutorial on Quantitative Trajectory Evaluationfor Visual(-Inertial) Odometry SLAM 误差专门评测方法，终于有大佬说清楚了。代码在此

15. 2018-10-08-A Review of Solutions for Perspective-n-Point Problem in Camera Pose Estimation PnP 方法对比

14. 2018-09-25-A Versatile Method for Depth Data Error Estimation in RGB-D Sensors 判断RGBD深度信息准确性的方法

13. 2018-09-25-Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver. 更快更准的P3P方法，代码

12. 2018-09-18-Adding Cues to Binary Feature Descriptors for Visual Place Recognition

11. An Improved RANSAC Algorithm for Simultaneous Localization and Mapping

10. Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm

9.RES-Q: Robust Outlier Detection Algorithm for Fundamental Matrix Estimation

8.Fast and robust local feature extraction for 3D reconstruction

7.Matrix Difference in Pose-Graph Optimization https://gitlab.com/srrg-software/srrg_g2o_chordal_plugin

6. Nonlinear Distortion Calibration of an Optical Flow Sensor for Monocular Visual Odometry

5. Five-point algorithm: an efficient cloud-based FPGA implementation

4. SC-RANSAC: Spatial consistency on RANSAC

3.Towards A Deep Insight into Landmark-based Visual Place Recognition: Methodology and Practice

2. In Defense of Relative Multi-View Geometry

1. MatchBench: An Evaluation of Feature Matchers

视觉激光融合 Fusion of visual and laser

3. Laser-visual-inertial odometry and mapping with high robustness and low drift1

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

1.Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter

三维重建 3D reconstruction

7.2018-09-17-Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera 去除光源条件对重建的影响.

6.2018-09-15-Real-time High-accuracy Three-Dimensional Reconstruction with Consumer RGB-D Cameras加入了uncertaintyaware,and local-to-global RGB-D bundle adjustment strategy

5.Object Pose Estimation from Monocular Image using Multi-View Keypoint Correspondence

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)

3. Robust 3D Surface Reconstruction in Real-Time with Localization Sensor

2. EchoFusion: Tracking and Reconstruction of Objects in 4D Freehand Ultrasound Imaging without External Trackers

1. PSDF Fusion: Probabilistic Signed Distance Function for On-the-fly 3D Data Fusion and Scene Reconstruction

深度学习（DL）+SLAM

18. 2018-10-09-DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

17. 2018-10-09-Real-Time Monocular Object-Model Aware Sparse SLAM Ian Reid

16. 2018-10-08-Efficient Constellation-Based Map-Merging for Semantic SLAM

15. 2018-10-08-Learning to Fly by MySelf:A Self-Supervised CNN-based Approach for Autonomous Navigation

14. 2018-10-08-Semi-dense Stereo Matching using Dual CNNs深度估计

13. 2018-10-08-Deep Learning Based Semantic Labelling of 3D Point Cloudin Visual SLAM SLAM 加上点云标签代码在此

12. 2018-10-06-CNN-SVO: Improving the Mapping in Semi-Direct Visual OdometryUsing Single-Image Depth Prediction 用CNN 减少深度估计误差 代码在此

11. 2018-09-26-An Orientation Factor for Object-Oriented SLAM

10. 2018-09-25 A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM

9. 2018-09-25 GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks

8. 2018-07-25 Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry.TUM DL+DSO大作

7. Fusion++: Volumetric Object-Level SLAM

6. UnDeepVO: Monocular Visual Odometry through Unsupervised Deep Learning github:https://github.com/drmaj/UnDeepVO

5. Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments

4. Graph-Based Place Recognition in Image Sequences with CNN Features

3. VSO: Visual Semantic Odometry

2. Real-time Dense Monocular SLAM with Online Adapted Depth Prediction Network

1. DeepTAM: Deep Tracking and Mapping