本文汇集了关于长期SLAM的研究论文，探讨如何解决长时间运行的SLAM地图更新和定位问题。通过RNN预测动态占用栅格地图，使用VGG和LSTM网络进行场景理解，并利用SCI进行三维点云描述，实现长期激光雷达定位。
Lifelong SLAM 论文解读合集（3）：针对长时间重复运行SLAM地图更新问题
- (RAL 2020)Learning Matchable Image Transformations for Long-Term Metric Visual Localization
- (ICRA 2019)Long-Term Occupancy Grid Prediction Using Recurrent Neural Networks
- (RAL 2019)1-Day Learning, 1-Year Localization: Long-TermLiDAR Localization Using Scan Context Image
- (ICRA 2020)Long-Term Robot Navigation in Indoor Environments Estimating Patterns in Traversability Changes
(RAL 2020)Learning Matchable Image Transformations for Long-Term Metric Visual Localization
论文传送门: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8963763.
(ICRA 2019)Long-Term Occupancy Grid Prediction Using Recurrent Neural Networks
论文传送门: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8793582.
概述
这篇文章采用了RNN来做占据栅格地图的长期预测。RNN的输入包括一个对整个场景的bird eye view，including occupancy and velocity。深度CNN网络运用了convLSTM来把动态和静态的场景分开，且预测未来的动态场景。这篇文章把DOGMs（动态占据栅格
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