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Recent_SLAM_Research

【回馈社区】跟踪SLAM前沿动态 （2017-2018），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。

Visual SLAM

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

基础工具 Basic tools

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

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

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