基于LOAM的文章及改进整理

表格整理了部分本人阅读的基于LOAM的激光SLAM文章。这些工作主要围绕着原版本的几个不足展开：没有回环，没有图优化，线性运动假设简单，松耦合IMU，特征提取简单，动态物体去除。

文章	发表	作者	主要内容
LOAM: Lidar Odometry and Mapping in Real-time	RSS 2014	Ji Zhang and Sanjiv Singh	基本，IMU松耦合
Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast	ICRA 2015	Ji Zhang and Sanjiv Singh	加视觉紧耦合
Laser–visual–inertial odometry and mapping with high robustness and low drift	JFR 2017	Ji Zhang and Sanjiv Singh	加IMU紧耦合，分析了退化场景下的耦合方法
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain	IROS 2018	Tixiao Shan and Brendan Englot	地面划分从而滤除噪声特征点，在有植被时表现明显更加鲁棒，优化问题拆成两个部分计算，减少了迭代步数
LLOAM: LiDAR Odometry and Mapping with Loopclosure Detection Based Correction	2019 IEEE International Conference on Mechatronics and Automation August 4 - 7, Tianjin, China	Xingliang Ji, Lin Zuo, Changhua Zhang, Yu Liu	加闭环
Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV	ICRA 2019	Jiarong Lin and Fu Zhang	解决小FOV雷达应用场景，在动态滤除，特征点，运动补偿上做了改进
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments	IROS 2019	Shibo Zhao1, Zheng Fang1, HaoLai Li1, Sebastian Scherer2	CNN去除动态车辆，基于ESKF耦合IMU，mapping使用NDT，解决高速路运动快、车辆多的场景
Optimized LOAM Using Ground Plane Constraints and SegMatch-Based Loop Detection	Sensors	Xiao Liu 1,2,*, Lei Zhang 2, Shengran Qin 2,3, Daji Tian 2, Shihan Ouyang 2,3 and Chu Chen 1,2	添加基于segmatch的闭环，和地面约束
Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph			在LOAM后端加了位置图优化，效果有一定的提升
Tightly Coupled 3D Lidar Inertial Odometry and Mapping	ICRA 2019	Haoyang Ye1, Yuying Chen1 and Ming Liu1	紧耦合IMU，同时有局部图优化，在线标定外参，高动态场景有较大提升
IN2LAMA: INertial Lidar Localisation And MApping	ICRA 2019	Cedric Le Gentil, Teresa Vidal-Calleja and Shoudong Huang	离线，特征提取更加耐心细致，对IMU进行上采样，并且紧耦合，从而更好的去除畸变
R-LINS: A Robocentric Lidar-Inertial State Estimator for Robust and Efficient Navigation	ICRA 2020	Chao Qin, Haoyang Ye, Christian E. Pranata, Jun Han, Shuyang Zhang, and Ming Liu, Senior Member, IEEE	ESKF 耦合IMU
LIC-Fusion: LiDAR-Inertial-Camera Odometry	IROS 2019	Xingxing Zuo∗, Patrick Genevayy, Woosik Leey, Yong Liu∗, and Guoquan Huangy	紧耦合IMU，视觉和激光，基于滤波框架MSCKF
Robust High Accuracy Visual-Inertial-Laser SLAM System	IROS 2019	Zengyuan Wang1, Jianhua Zhang1, Shengyong Chen2, Conger Yuan1, Jingqian Zhang1 and Jianwei Zhang3	紧耦合视觉IMU，整合VINS和LOAM，也有回环
A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions	IROS 2019	Weikun Zhen Yaoyu Hu Jingfeng Liu Sebastian Scherer	三维重建，紧耦合视觉，更加细致地处理了外参计算问题