2021 SLAM会议论文汇总

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1.ICRA2021

ICRA2021会议论文的分布式介绍如下，如果需要的话私聊我要分享码。
ICRA2021分享链接: 整理不易，留下个赞再走吧，分享码：b1pd

语义定位与建图

Visual Semantic Localization Based on HD Map for Autonomous Vehicles in Urban Scenarios

RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving

Road Mapping and Localization Using Sparse Semantic Visual Features

Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping

Semantic SLAM with Autonomous Object-Level Data Association Hybrid

Bird’s-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking (AVP)

Compositional and Scalable Object SLAM

Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model

Semantically Guided Multi-View Stereo for Dense 3D Road Mapping
Robust Improvement in 3D Object Landmark Inference for Semantic Mapping

Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR
代码

PSF-LO: Parameterized Semantic Features Based Lidar Odometry

Point Set Registration with Semantic Region Association Using Cascaded Expectation Maximization

视觉SLAM

Asynchronous Multi-View SLAM

B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles

UPSLAM: Union of Panoramas SLAM

Multi-Parameter Optimization for a Robust RGB-D SLAM System

SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes

MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos

ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames

Markov Parallel Tracking and Mapping for Probabilistic SLAM

Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

TT-SLAM: Dense Monocular SLAM for Planar Environments

OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications

DOT: Dynamic Object Tracking for Visual SLAM

DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences (I)

RGB-D SLAM with Structural Regularities

RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects

CAROM - Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures

VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough

Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping

视觉里程计

Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry

Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment

Deep Online Correction for Monocular Visual Odometry

A Heteroscedastic Likelihood Model for Two-Frame Optical Flow

Learning Optical Flow with R-CNN for Visual Odometry

Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation

Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry

Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images

A Front-End for Dense Monocular SLAM Using a Learned Outlier Mask Prior

视觉三维重建

Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation

Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping [论文] [代码]

Lightweight Semantic Mesh Mapping for Autonomous Vehicles

Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior

Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning

Direct Sparse Mapping (I)【论文】【代码】

HyperMap: Compressed 3D Map for Monocular Camera Registration

Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking

Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments

视觉惯性里程计

UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments

Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization

CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth

Direct Sparse Stereo Visual-Inertial Global Odometry

Collaborative Visual Inertial SLAM for Multiple Smart Phones

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle

Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM

Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements

An Equivariant Filter for Visual Inertial Odometry

Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization

Cooperative Visual-Inertial Odometry

跟踪

Tracking 6-DoF Object Motion from Events and Frames

Visual Tracking of Deforming Objects Using Physics-Based Models

Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

深度估计

Robust Monocular Visual-Inertial Depth Completion for Embedded Systems

Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation

SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments

Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image

PENet: Towards Precise and Efficient Image Guided Depth Completion 【论文】【代码】

Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation

PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation

Bidirectional Attention Network for Monocular Depth Estimation

Self-Guided Instance-Aware Network for Depth Completion and Enhancement

Deep Multi-View Depth Estimation with Predicted Uncertainty

MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation Using Incremental Viewpoint-Compensated Feature Extraction

Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion

Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation

视觉定位

Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion

Appearance-Based Loop Closure Detection Via Bidirectional Manifold Representation Consensus

SoftMP: Attentive Feature Pooling for Joint Local Feature Detection and Description for Place Recognition in Changing Environments

Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization

Resolving Place Recognition Inconsistencies Using Intra-Set Similarities

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems

Retrieval and Localization with Observation Constraints

A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge

Semantic Reinforced Attention Learning for Visual Place Recognition

STA-VPR: Spatio-Temporal Alignment for Visual Place Recognition

Visual Place Recognition Via Local Affine Preserving Matching

激光雷达定位

DiSCO: Differentiable Scan Context with Orientation

Robust Place Recognition Using an Imaging Lidar

Locus: LiDAR-Based Place Recognition Using Spatiotemporal Higher-Order Pooling

Resolving Place Recognition Inconsistencies Using Intra-Set Similarities

Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition

Place Recognition in Forests with Urquhart Tessellations

多传感器数据融合

LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping 【文章】【代码】（集成了VINS和LIOSAM）

MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments

LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping

Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space

Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration

Range-Visual-Inertial Odometry: Scale Observability without Excitation

Airflow-Inertial Odometry for Resilient State Estimation on Multirotors

Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments

Interval-Based Visual-LiDAR Sensor Fusion

Based_Visual-LiDAR_Sensor_Fusion

CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System

Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor

Simple but Effective Redundant Odometry for Autonomous Vehicles

Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Vanishing Point Aided LiDAR-Visual-Inertial Estimator

Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR 【论文】【代码】

多传感器融合建图

Lidar-Monocular Surface Reconstruction Using Line Segments

Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning

激光雷达SLAM

SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure

Greedy-Based Feature Selection for Efficient LiDAR SLAM

Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-Scale Environments

π-LSAM: LiDAR Smoothing and Mapping with Planes

R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object

LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing

LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence

2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining

Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment

Online Range-Based SLAM Using B-Spline Surfaces

MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square【论文】【代码】

Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data

A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures

激光雷达定位

Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets 【论文】【代码】

Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles

NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation

Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization

激光雷达建图

BALM: Bundle Adjustment for Lidar Mapping

Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware

ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building

Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression

Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking

Poisson Surface Reconstruction for LiDAR Odometry and Mapping

Dynamic Occupancy Grid Mapping with Recurrent Neural Networks

Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data

Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning

MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

激光里成计 & 激光惯性里程计

FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry

LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry

PSF-LO: Parameterized Semantic Features Based Lidar Odometry

ENCODE: A dEep poiNt Cloud ODometry NEtwork

Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry

Self-Supervised Learning of LiDAR Odometry for Robotic Applications

标题点云注册

PHASER: A Robust and Correspondence-Free Global Pointcloud Registration

Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

Robust Motion Averaging under Maximum Correntropy Criterion

Toward a Unified Framework for Point Set Registration

Voxelized GICP for Fast and Accurate 3D Point Cloud Registration

Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds

Learning the Next Best View for 3D Point Clouds Via Topological Features

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

特征提取

SKD: Keypoint Detection for Point Clouds Using Saliency Estimation

Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator

固态激光雷达

Lightweight 3-D Localization and Mapping for Solid-State LiDAR

点云压缩

Deep Compression for Dense Point Cloud Maps 【论文】【代码】

全局定位

Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets 【论文】【代码】

Learned Uncertainty Calibration for Visual Inertial Localization

Deep Samplable Observation Model for Global Localization and Kidnapping

Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement

Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment

LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)

Global Aerial Localisation Using Image and Map Embeddings

Range Image-Based LiDAR Localization for Autonomous Vehicles

RadarLoc: Learning to Relocalize in FMCW Radar

Freetures: Localization in Signed Distance Function Maps

Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions

Learning to Localize in New Environments from Synthetic Training Data

Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps

Robust Dual Quadric Initialization for Forward-Translating Camera Movements

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors

深度学习

End-To-End Semi-Supervised Learning for Differentiable Particle Filters

Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose Estimation

雷达

Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? 【论文1】【论文2】【代码】

RadarLoc: Learning to Relocalize in FMCW Radar

A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars

数据关联

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association (I)

ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants

CLIPPER: A Graph-Theoretic Framework for Robust Data Association

后端

NF-iSAM: Incremental Smoothing and Mapping Via Normalizing Flows

A Switching-Coupled Backend for Simultaneous Localization and Dynamic Object Tracking

分布式SLAM

Distributed Client-Server Optimization for SLAM with Limited On-Device Resources

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation

Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization

Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors

Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization

long-term

Lifelong Localization in Semi-Dynamic Environment

标定

Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments

Efficient Online Calibration for Autonomous Vehicle’s Longitudinal Dynamical System: A Gaussian Model Approach

Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board

Targetless Multiple Camera-LiDAR Extrinsic Calibration Using Object Pose Estimation

Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras

A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration

Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications

UWB

Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points

Relative Position Estimation between Two UWB Devices with IMUs

UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation

Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection

数学相关

Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering

Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images

数据集

RADIATE: A Radar Dataset for Automotive Perception in Bad Weather

Cirrus: A Long-Range Bi-Pattern LiDAR Dataset

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments 【论文】【代码】

A Multi-Spectral Dataset for Evaluating Motion Estimation Systems

PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices

Are We Ready for Unmanned Surface Vehicles in Inland Waterways? the USVInland Multisensor Dataset and Benchmark

DSEC: A Stereo Event Camera Dataset for Driving Scenarios

AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild 【论文】【代码】

医疗定位

Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification

声音定位

GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization

GNSS

Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization

UAV

Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset

UAV Localization Using Autoencoded Satellite Images

Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots

Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization

机器人定位

Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning

Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching

A Comparison between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests

State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks

Robust Localization for Planar Moving Robot in Changing Environment: A Perspective on Density of Correspondence and Depth

PPA

Weighted Node Mapping and Localisation on a Pixel Processor Array

Sonar

Predictive 3D Sonar Mapping of Underwater Environments Via Object-Specific Bayesian Inference

Tactile SLAM：

Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing

Active SLAM

Invariant EKF Based 2D Active SLAM with Exploration Task

IMU

IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach

Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization

IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving

Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee

2.IROS2021

IROS 2021 SLAM分享码为：we6y

视觉SLAM:

1. A Comparison of Modern General-Purpose Visual SLAM Approaches
2. A General Framework for Lifelong Localization and Mapping in Changing Environment
3. Accurate Visual-Inertial SLAM by Manhattan Frame Re-Identification
4. AcousticFusion Fusing Sound Source Localization to Visual SLAM in Dynamic Environments
5. CodeMapping Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations
6. DeepRelativeFusion Dense Monocular SLAM Using Single-Image Relative Depth Prediction
7. Direct Near-Infrared-Depth Visual SLAM with Active Lighting
8. Efficient Multimodal Belief Propagation for Robust SLAM Using Clustering Based Reparameterization
9. Geometry-Based Graph Pruning for Lifelong SLAM
10. Hierarchical Segment-Based Optimization for SLAM
11. Line Flow Based Simultaneous Localization and Mapping
12. Moving SLAM Fully Unsupervised Deep Learning in Non-Rigid Scenes
13. Phase-SLAM Mobile Structured Light Illumination for Full Body 3D Scanning
14. Robust Initialization of Multi-Camera SLAM with Limited View Overlaps and Inaccurate Extrinsic Calibration
15. Stereo Plane SLAM Based on Intersecting Lines

视觉里程计：

1. Deep Unsupervised Learning Based Visual Odometry with Multi-Scale Matching and Latent Feature Constraint
2. DPLVO Direct Point-Line Monocular Visual Odometry
3. Feature-Aided Bundle Adjustment Learning Framework for Self-Supervised Monocular Visual Odometry
4. MDN-VO Estimating Visual Odometry with Confidence
5. Reactive Visual Odometry Scheduling Based on Noise Analysis Using an Adaptive Extended Kalman Filter

视觉惯性里程计:

1. A Visual Inertial Odometry Framework for 3D Points, Lines and Planes
2. Accurate Visual-Inertial SLAM by Feature Re-Identification
3. An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems
4. An Open-Source, Fiducial-Based, Underwater Stereo Visual-Inertial Localization Method with Refraction Correction
5. Extended VINS-Mono A Systematic Approach for Absolute and Relative Vehicle Localization in Large-Scale Outdoor Environments
6. Multi-Layer VI-GNSS Global Positioning Framework with Numerical Solution Aided MAP Initialization
7. PLF-VINS Real-Time Monocular Visual-Inertial SLAM with Point-Line Fusion and Parallel-Line Fusion
8. RP-VIO Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
9. Sampson Distance A New Approach to Improving Visual-Inertial Odometry’s Accuracy
10. Stereo Visual Inertial Odometry for Robots with Limited Computational Resources

视觉定位:

1. DistillPose Lightweight Camera Localization Using Auxiliary Learning
2. Efficient Localisation Using Images and OpenStreetMaps
3. Finding Robust 2D-To-3D Correspondence with LSTM Score Estimation for Camera Localization
4. High Accuracy Three-Dimensional Self-Localization Using Visual Markers and Inertia Measurement Unit
5. Real-Time Geo-Localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles
6. Recalling Direct 2D-3D Matches for Large-Scale Visual Localization

语义定位和映射：

1. A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
2. Automatic Construction of Lane-Level HD Maps for Urban Scenes
3. AVP-Loc Surround View Localization and Relocalization Based on HD Vector Map for Automated Valet Parking
4. BSP-MonoLoc Basic Semantic Primitives Based Monocular Localization on Roads
5. Coarse-To-Fine Semantic Localization with HD Map for Autonomous Driving in Structural Scenes
6. Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM
7. DT-Loc Monocular Visual Localization on HD Vector Map Using Distance Transforms of 2D Semantic Detections
8. Monte-Carlo Localization in Underground Parking Lots Using Parking Slot Numbers
9. Probabilistic Appearance-Invariant Topometric Localization with New Place Awareness
10. Robust LiDAR Localization on an HD Vector Map without a Separate Localization Layer
11. Robust Multi-Camera SLAM with Manhattan Constraint Toward Automated Valet Parking
12. Semantic Image Alignment for Vehicle Localization
13. SemSegMap - 3D Segment-Based Semantic Localization
14. Topology Aware Object-Level Semantic Mapping towards More Robust Loop Closure
15. TUPPer-Map Temporal and Unified Panoptic Perception for 3D Metric-Semantic Mapping

后端

1. Cross-Layer Configuration Optimization for Localization on Resource-Constrained Devices
2. Differentiable Factor Graph Optimization for Learning Smoothers
3. Direct Bundle Adjustment for 3D Image Fusion with Application to Transesophageal Echocardiography
4. Distributed Certifiably Correct Pose-Graph Optimization
5. Random Fourier Features Based SLAM
6. Robust Rank Deficient SLAM
7. Some Research Questions for SLAM in Deformable Environments

特征提取和特征匹配:

1. RaP-Net A Region-Wise and Point-Wise Weighting Network to Extract Robust Features for Indoor Localization
2. Refractive Light-Field Features for Curved Transparent Objects in Structure from Motion
3. RoRD Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
4. Superline A Robust Line Segment Feature for Visual SLAM

激光雷达SLAM:

1. CLMM-Net Robust Cascaded LiDAR Map Matching Based onMulti-Level Intensity Map
2. F-LOAM Fast LiDAR Odometry and Mapping
3. LiDAR SLAM with Plane Adjustment for Indoor Environment
4. LiDAR-Based Object-Level SLAM for Autonomous Vehicles
5. Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System
6. Map Compressibility Assessment for LiDAR Registration
7. Shipborne Sea-Ice Field Mapping Using a LiDAR

激光里程计

1. Adaptive Hyperparameter Tuning for Black-Box LiDAR Odometry
2. CLINS Continuous-Time Trajectory Estimation for LiDAR Inertial System
3. Real-Time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry Using Continuous-Time Trajectory Optimization
4. RF-LIO Removal-First Tightly-Coupled Lidar Inertial Odometry in High Dynamic Environments
5. What’s in My LiDAR Odometry Toolbox

建图与三维重建:

1. An Efficient and Continuous Representation for Occupancy Mapping with Random Mapping
2. Dynamic Domain Adaptation for Single-View 3D Reconstruction
3. Endo-Depth-and-Motion Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints
4. Local to Global Plane Regularity Aggregation for Dense Surfel Mapping
5. Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization
6. What’s Best for My Mesh Convex or Non-Convex Regularisation for Mesh Optimisation

多平台SLAM:

1. A Collaborative Visual SLAM Framework for Service Robots
2. Coxgraph Multi-Robot Collaborative, Globally Consistent, Online Dense Reconstruction System
3. Distributed Visual-Inertial Cooperative Localization
4. MR-iSAM2 Incremental Smoothing and Mapping with Multi-Root Bayes Tree for Multi-Robot SLAM
5. ORBBuf A Robust Buffering Method for Remote Visual SLAM

多传感器融合:

1. GR-Fusion Multi-Sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift
2. Lvio-Fusion A Self-Adaptive Multi-Sensor Fusion SLAM Framework Using Actor-Critic Method
3. Modular Multi-Sensor Fusion A Collaborative State Estimation Perspective
4. R2LIVE A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping
5. Radar Visual Inertial Odometry and Radar Thermal Inertial Odometry Robust Navigation even in Challenging Visual Conditions
6. Super Odometry IMU-Centric LiDAR-Visual-Inertial Estimator for Challenging Environments

局部重建:

1. A Hierarchical Dual Model of Environment and Place-Specific Utility for Visual Place Recognition
2. A Registration-aided Domain Adaptation Network for 3D Point Cloud Based Place Recognition
3. CORAL Colored Structural Representation for Bi-Modal Place Recognition
4. Evaluation of Long-Term LiDAR Place Recognition
5. EventVLAD Visual Place Recognition with Reconstructed Edges from Event Cameras
6. Motion Field Consensus with Locality Preservation A Geometric Confirmation Strategy for Loop Closure Detection
7. MV-FractalDB Formula-Driven Supervised Learning for Multi-View Image Recognition
8. Object-To-Scene Learning to Transfer Object Knowledge to Indoor Scene Recognition
9. SSC Semantic Scan Context for Large-Scale Place Recognition
10. SymbioLCD Ensemble-Based Loop Closure Detection Using CNN-Extracted Objects and Visual Bag-Of-Words
11. Visual Place Recognition Using LiDAR Intensity Information

点云补全:

1. Graph Guided Deformation for Point Cloud Completion
2. PCTMA-Net Point Cloud Transformer with Morphing Atlas-Based Point Generation Network for Dense Point Cloud Completion

点云注册:

1. Geometry Guided Network for Point Cloud Registration
2. Keypoint Matching for Point Cloud Registration Using Multiplex Dynamic Graph Attention Networks
3. Robust and Accurate Point Set Registration with Generalized Bayesian Coherent Point Drift

标定:

1. A Two-Step Optimization for Extrinsic Calibration of Multiple Camera System (MCS) Using Depth-Weighted Normalized Points
2. Annotation-Free Camera-LiDAR Calibration with Semantic Alignment Loss
3. Dynamic Event Camera Calibration
4. Kalibrot A Simple-To-Use Matlab Package for Robot Kinematic Calibration
5. Kinodynamic Model Identification A Unified Geometric Approach
6. Learning to Calibrate - Estimating the Hand-Eye Transformation without Calibration Objects
7. Odometry Model Calibration for Self-Driving Vehicles with Noise Correction
8. Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments
9. Single-Shot Is Enough Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs

数据集:

1. A Dataset for Provident Vehicle Detection at Night
2. Diverse Complexity Measures for Dataset Curation in Self-Driving
3. Drive on Pedestrian Walk. TUK Campus Dataset
4. NYU-VPR Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influences
5. Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception
6. The Radar Ghost Dataset – an Evaluation of Ghost Objects in Automotive Radar Data
7. Topo-Boundary A Benchmark Dataset on Topological Road-Boundary Detection Using Aerial Images for Autonomous Driving
8. TUM-VIE The TUM Stereo Visual-Inertial Event Dataset

深度:

1. Accurate Depth Estimation from a Hybrid Event-RGB Stereo Setup
2. ADAADepth Adapting Data Augmentation and Attention for Self-Supervised Monocular Depth Estimation
3. Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation
4. Improving Monocular Depth Estimation by Semantic Pre-Training
5. Self Attention Guided Depth Completion Using RGB and SparseLiDAR Point Clouds
6. Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation
7. Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
8. Unsupervised Learning of Depth Estimation and Visual Odometry for Sparse Light Field Cameras
9. Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
10. VoluMon Weakly Supervised Volumetric Monocular Estimation with Ellipsoid Representations

单目匹配:

1. Correlate-And-Excite Real-Time Stereo Matching Via Guided Cost Volume Excitation
2. ORStereo Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images
3. SRH-Net Stacked Recurrent Hourglass Network for Stereo Matching
4. Stereo Matching by Self-Supervision of Multiscopic Vision

MVS:

1. EOMVS Event-Based Omnidirectional Multi-View Stereo

雷达:

1. Angular Super-Resolution Radar SLAM
2. CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry
3. Continuous-Time Radar-Inertial Odometry for Automotive Radars
4. Ground Encoding Learned Factor Graph-Based Models for Localizing Ground Penetrating Radar
5. Radar Odometry on SE(3) with Constant Velocity Motion Prior

UWB:

1. A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors
2. Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
3. Online Spatio-Temporal Calibration of Tightly-Coupled Ultrawideband-Aided Inertial Localization

3.IROS2021_自动驾驶论文:

决策:

1. 3D Radar Velocity Maps for Uncertain Dynamic Environments
2. A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras
3. A Simple and Efficient Multi-Task Network for 3D Object Detection and Road Understanding
4. BEV-Net A Bird’s Eye View Object Detection Network for LiDAR Point Cloud
5. CP-Loss Connectivity-Preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images
6. Fine-Grained Off-Road Semantic Segmentation and Mapping Via Contrastive Learning
7. LiDAR-Based Drivable Region Detection for Autonomous Driving
8. Monitoring Object Detection Abnormalities Via Data-Label and Post-Algorithm Abstractions
9. Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography
10. RV-FuseNet Range View Based Fusion of Time-Series LiDAR Data for Joint 3D Object Detection and Motion Forecasting
11. SSTN: Self-Supervised Domain Adaptation Thermal Object Detection for Autonomous Driving
12. COINet: Adaptive Segmentation with Co-Interactive Network for Autonomous Driving
13. SNE-RoadSeg+ Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection
14. Unsupervised Vehicle Re-Identification Via Self-Supervised Metric Learning Using Feature Dictionary

预测:

1. Automated Type-Aware Traffic Speed Prediction Based on Sparse Intelligent Camera System
2. Decoder Fusion RNN Context and Interaction Aware Decoders for Trajectory Prediction
3. Joint Intention and Trajectory Prediction Based on Transformer
4. Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks
5. Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving

跟踪:

1. Cross-Modal 3D Object Detection and Tracking for Auto-Driving
2. Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving
3. Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences
4. Score Refinement for Confidence-Based 3D Multi-Object Tracking

规划:

1. DeepSIL A Software-In-The-Loop Framework for Evaluating Motion Planning Schemes Using Multiple Trajectory Prediction Networks
2. Diverse Critical Interaction Generation for Planning and Planner Evaluation
3. PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving
4. STFP: Simultaneous Traffic Scene Forecasting and Planning for Autonomous Driving
5. A Novel Recursive Smooth Trajectory Generation Method for Unmanned Vehicles

意图识别:

1. A Multimodal and Hybrid Framework for Human Navigational Intent Inference
2. An Efficient Understandability Objective for Dynamic Optimal Control
3. CovarianceNet Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction
4. GRIT Fast, Interpretable, and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving
5. Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles
6. Multi-modal Scene-compliant User Intention Estimation in Navigation
7. Safety-Oriented Pedestrian Occupancy Forecasting
8. Simultaneous Prediction of Pedestrian Trajectory and Actions Based on Context Information Iterative Reasoning

控制:

1. Semi-Cooperative Control for Autonomous Emergency Vehicles

导航:

1. A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras
2. A Kinematic Model for Trajectory Prediction in General Highway Scenarios
3. A Multi-Objective Path Planning and Exploration Framework for Unknown and Unstructured Environments
4. Autonomous Drone Racing with Deep Reinforcement Learning
5. Autonomous Mobile Robot Navigation Independent of Road Boundary Using Driving Recommendation Map
6. Autonomous Vehicle Navigation in Semi-Structured Environments Based on Sparse Waypoints and LiDAR Road-Tracking
7. Connecting Deep-Reinforcement-Learning-Based Obstacle Avoidance with Conventional Global Planners Using Waypoint Generators
8. Context and Orientation Aware Path Tracking
9. Cooperative Autonomous Vehicles That Sympathize with Human Drivers
10. Deep Semantic Segmentation at the Edge for Autonomous Navigation in Vineyard Rows
11. DiGNet Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks
12. Fast Autonomous Robotic Exploration Using the Underlying Graph Structure
13. Gaussian Process-based Interpretable Runtime Adaptation for Safe Autonomous Systems Operations in Unstructured Environments
14. Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph
15. KB-Tree Learnable and Continuous Monte-Carlo Tree Search for Autonomous Driving Planning
16. Latent Attention Augmentation for Robust Autonomous Driving Policies
17. Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain
18. Learning-Based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments
19. LiDAR Degradation Quantification for Autonomous Driving in Rain
20. Map-Aided Train Navigation with IMU Measurements
21. Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learning
22. NavTuner Learning a Scene-Sensitive Family of Navigation Policies
23. On Fault Classification in Connected Autonomous Vehicles Using Output-Only Measurements
24. Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation
25. Pallet Detection and Docking Strategy for Autonomous Pallet Truck AGV Operation
26. Reinforcement Learning Based Negotiation-Aware Motion Planning of Autonomous Vehicles
27. Road Graphical Neural Networks for Autonomous Roundabout Driving
28. Robust Policy Search for an Agile Ground Vehicle under Perception Uncertainty
29. Shape Estimation of Negative Obstacles for Autonomous Navigation
30. The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic An Autonomous Logistic Vehicle for Contactless Goods Transportation
31. Unsupervised Traffic Scene Generation with Synthetic 3D Scene Graphs
32. Vulnerability of Connected Autonomous Vehicles Networks to Periodic Time-Varying Communication Delays of Certain Frequency

建模:

1. A High-Accuracy Framework for Vehicle Dynamic Modeling in Autonomous Driving
2. The Reasonable Crowd Towards Evidence-Based and Interpretable Models of Driving Behavior

多平台系统:

1. Cooperative Transportation Robot System Using Risk-Sensitive Stochastic Control

其他:

1. Agent-Aware State Estimation for Autonomous Vehicles
2. Dynamic Lambda-Field A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments
3. Finding Failures in High-Fidelity Simulation Using Adaptive Stress Testing and the Backward Algorithm
4. Gridlock-Free Autonomous Parking Lots for Autonomous Vehicles
5. StyleLess Layer Improving Robustness for Real-World Driving
6. Vehicle Dispatch in On-Demand Ride-Sharing with Stochastic Travel Times
7. Exploring Imitation Learning for Autonomous Driving with Feedback Synthesizer and Differentiable Rasterization

写在最后：

欢迎SLAM友，千里共同途（QQ群）