SLAM相关论文与研究方向

[1]陈卫东, 张飞. 移动机器人的同步自定位与地图创建研究进展[J]. 控制理论与应用, 2005, 22(3):455-460.

[2]Cadena C, Carlone L, Carrillo H, et al. Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age[J]. IEEE Transactions on Robotics, 2016, 32(6):1309-1332.    (综述)

[3]Birk A, Pfingsthorn M. Simultaneous Localization and Mapping (SLAM)[M]// Wiley Encyclopedia of Electrical and Electronics Engineering. John Wiley & Sons, Inc. 2016.

[4]Choset H, Nagatani K. Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization[J]. Robotics & Automation IEEE Transactions on, 2001, 17(2):125-137.

[5]许亚朝, 何秋生, 王少江,等. 一种改进的自适应卡尔曼滤波算法[J]. 太原科技大学学报, 2016, 37(3):163-168.

[6]Martinez-Cantin R, Castellanos J A. Unscented SLAM for large-scale outdoor environments[C]// Ieee/rsj International Conference on Intelligent Robots and Systems. IEEE, 2005:3427-3432.   (引:142)

[7]Chekhlov D, Pupilli M, Mayol-Cuevas W, et al. Real-Time and Robust Monocular SLAM Using Predictive Multi-resolution Descriptors.[C]// International Symposium on Visual Computing. 2006:276-285.  (引:142)

[8]Holmes S, Klein G, Murray D W. A Square Root Unscented Kalman Filter for visual monoSLAM[C]// IEEE International Conference on Robotics and Automation. IEEE, 2008:3710-3716.  (引:65)

[10]Sim R, Elinas P, Griffin M. Vision-based SLAM using the Rao-Blackwellised particle filter[J]. Ijcai Workshop on Reasoning with Uncertainty in Robotics, 2005, 9(4):500-509.  (引:232)

[11]Li M, Hong B, Cai Z, et al. Novel Rao-Blackwellized Particle Filter for Mobile Robot SLAM Using Monocular Vision[J]. International Journal of Intelligent Technology, 2008(1):63--69. (引:5)

[12]Klein G, Murray D. Parallel Tracking and Mapping for Small AR Workspaces[C]// IEEE and ACM International Symposium on Mixed and Augmented Reality. IEEE, 2008:1-10. (引:1927)

[13]Klein G, Murray D. Improving the Agility of Keyframe-Based SLAM[C]// European Conference on Computer Vision. Springer-Verlag, 2008:802-815. (引:290)

[14]Mur-Artal R, Tardós J D. Fast relocalisation and loop closing in keyframe-based SLAM[C]// IEEE International Conference on Robotics and Automation. IEEE, 2014:846-853. (引:28)

[15]Mur-Artal R, Montiel J M M, Tardós J D. ORB-SLAM: A Versatile and Accurate Monocular SLAM System[J]. IEEE Transactions on Robotics, 2015, 31(5):1147-1163.  (引:145)

[16]Henry P, Krainin M, Herbst E, et al. RGB-D mapping: Using depth cameras for dense 3-D modeling of indoor environments[M]//KHATIB O, KUMAR V, PAPPAS G J. Experimental Robotics. Berlin Heidelberg: Springer, 2014: 647-663.

最早提出使用RGBD相机对室内环境进行三维重建的方法，在彩色图像中提取SIFT特征并在深度图像上查找相应的深度信息。然后使用RANSAC方法对3D特征点进行匹配并计算出相应的刚体运动变换，再以此作为ICP(iterative closest point)的初始值来求出更精确的位姿。RGBD SLAM通常使用ICP算法来进行位姿估计。其基本流程为：

 

[17]Henry P, Krainin M, Herbst E, et al. RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments[M]// Experimental Robotics. Springer Berlin Heidelberg, 2014:647-663.  (引:435)

与文献[16]类似，不同点在于对彩色图像进行的是SURF特征提取，并用ICP对运动变换进行优化后，最后使用Hogman位姿图优化方法求出全局最优位姿。

[18]Jan Stühmer, Gumhold S, Cremers D. Real-time dense geometry from a handheld camera[C]// Dagm Conference on Pattern Recognition. Springer-Verlag, 2010:11-20.(引:123)

文献18的相机定位方法依赖图像的每个像素点，即用稠密的图像对准来进行自身定位并构建稠密的3-D地图。