This repository is a collection of papers related to SLAM for personal research purposes.
Based on PaoPaoRobot/IROS2022-paper-list, categories were sorted by myself.
If there are any missing papers or incorrect information, please feel free to contact me or leave an issue.
- Dataset
- Visual odometry / Visual SLAM / Structure-From-Motion
- Visual-inertial odometry / Visual-inertial SLAM
- Visual localization / Visual place recognition
- LiDAR odometry / LiDAR SLAM
- LiDAR-inertial odometry / LiDAR-inertial SLAM
- LiDAR localization / LiDAR place recognition
- Point cloud registration
- 3D reconstruction
- Sensor fusion
- Inertial odometry / INS
- Multi Robot SLAM / Localization
- Etc
- Are We Ready for Robust and Resilient SLAM? a Framework for Quantitative Characterization of SLAM Datasets
- Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms
- FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
- STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping
- Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset
- OdomBeyondVision: An Indoor Multi-Modal Multi-Platform Odometry Dataset Beyond the Visible Spectrum
- The Hilti SLAM Challenge Dataset
- WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue
- Danish Airs and Grounds: A Dataset for Aerial-To-Street-Level Place Recognition and Localization
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- Real-Time Hybrid Mapping of Populated Indoor Scenes using a Low-Cost Monocular UAV
- 360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM
- An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions
- DRG-SLAM: A Semantic RGB-D SLAM Using Geometric Features for Indoor Dynamic Scene
- RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
- Scale-Aware Direct Monocular Odometry
- Scale Estimation with Dual Quadrics for Monocular Object SLAM
- GeoROS: Georeferenced Real-time Orthophoto Stitching with Unmanned Aerial Vehicle
- Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes
- LODM: Large-scale Online Dense Mapping for UAV
- AFT-VO: Asynchronous Fusion Transformers for Multi-View Visual Odometry Estimation
- Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association
- SLAM-Supported Self-Training for 6D Object Pose Estimation
- On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion
- Exploring Event Camera-Based Odometry for Planetary Robots
- OdomBeyondVision: An Indoor Multi-Modal Multi-Platform Odometry Dataset Beyond the Visible Spectrum
- CFP-SLAM: A Real-Time Visual SLAM Based on Coarse-To-Fine Probability in Dynamic Environments
- Probabilistic Data Association for Semantic SLAM at Scale
- Visual Mapping and Localization System Based on Compact Instance-Level Road Markings with Spatial Uncertainty
- Floorplan-Aware Camera Poses Refinement
- MOTSLAM: MOT-Assisted Monocular Dynamic SLAM Using Single-View Depth Estimation
- Tracking Monocular Camera Pose and Deformation for SLAM Inside the Human Body
- These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots
- Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM
- Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera
- S3LAM: Structured Scene SLAM
- TwistSLAM: Constrained SLAM in Dynamic Environment
- A New Dense Hybrid Stereo Visual Odometry Approach
- Keeping Less Is More: Point Sparsification for Visual SLAM
- Event-Based Line SLAM in Real-Time
- LNC Assisted Localization and Mapping in Pipe Environment
- Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization
- DSOL: A Fast Direct Sparse Odometry Scheme
- Towards Specialized Hardware for Learning-Based Visual Odometry on the Edge
- Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps
- Hybrid Belief Pruning with Guarantees for Viewpoint-Dependent Semantic SLAM
- Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
- From Timing Variations to Performance Degradation: Understanding and Mitigating the Impact of Software Execution Timing in SLAM
- An Efficient and Accurate Solution to Camera Pose Estimation Problem from Point and Line Correspondences Based on Null Space Analysis
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- FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
- Scalable and Modular Ultra-Wideband Aided Inertial Navigation
- Monocular Event Visual Inertial Odometry Based on Event-Corner Using Sliding Windows Graph-Based Optimization
- Thermal Inertial SLAM for the Environments with Challenging Illumination
- P3-VINS: Tightly Coupled PPP/INS/Visual SLAM Based on Optimization Approach
- Closed-Form Error Propagation on SEn(3) Group for Invariant EKF with Applications to VINS
- Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration (I)
- LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-Of-View Cameras with Negative Plane
- Tightly-Coupled Visual-Inertial-Pressure Fusion Using Forward and Backward IMU Preintegration
- Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
- Visual-Inertial-Aided Online MAV System Identification
- BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend
- Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion
- RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments
- Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapped Monocular Cameras
- A Tightly-Coupled Event-Inertial Odometry Using Exponential Decay and Linear Preintegrated Measurements
- Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles (I)
- Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform
- Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation
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- Monocular UAV Localisation with Deep Learning and Uncertainty Propagation
- LiDAR-Aided Visual-Inertial Localization with Semantic Maps
- Improving Worst Case Visual Localization Coverage Via Place-Specific Sub-Selection in Multi-Camera Systems
- Making Parameterization and Constrains of Object Landmark Globally Consistent via SPD(3) Manifold and Improved Cost Functions
- PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
- Enforcing Vision-Based Localization Using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles
- Visual Loop Closure Detection for a Future Mars Science Helicopter
- DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure
- Pose Refinement with Joint Optimization of Visual Points and Lines
- Spatio-Temporal Graph Localization Networks for Image-Based Navigation
- Stubborn: A Strong Baseline for Indoor Object Navigation
- Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-Object Scenes
- Object-Plane Co-Represented and Graph Propagation-Based Semantic Descriptor for Relocalization
- A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization
- Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration
- Fast Structural Representation and Structure-Aware Loop Closing for Visual SLAM
- LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition
- STUN: Self-Teaching Uncertainty Estimation for Place Recognition
- VMVG-Loc: Visual Localization for Autonomous Driving Using Vector Map and Voxel Grid Map
- CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition
- Towards holistic autonomous obstacle detection in railways by complementing of on-board vision with UAV-based object localization
- Predicting to Improve: Integrity Measures for Assessing Visual Localization Performance
- City-wide Street-to-Satellite Image Geolocalization of a Mobile Ground Agent
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- Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
- Efficient 2D LIDAR Based Map Updating for Long Term Operations in Dynamic Environments
- Online Distance Field Priors for Gaussian Process Implicit Surfaces
- Map-Free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances
- Elevation Mapping for Locomotion and Navigation using GPU
- PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders
- When Geometry Is Not Enough: Using Reflector Markers in Lidar SLAM
- LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time 3D Mapping
- Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments from Occupancy Grid Maps
- Efficient 2D Graph SLAM for Sparse Sensing
- RO-LOAM: 3D Reference Object-Based Trajectory and Map Optimization in LiDAR Odometry and Mapping
- Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images
- MD-SLAM: Multi-Cue Direct SLAM
- Detecting Invalid Map Merges in Lifelong SLAM
- PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-Based SLAM
- Situational Graphs for Robot Navigation in Structured Indoor Environments
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- A LiDAR-Inertial Odometry with Principled Uncertainty Modeling
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- Learning-Based Localizability Estimation for Robust LiDAR Localization
- Fast Scan Context Matching for Omnidirectional 3D Scan
- Probabilistic Object Maps for Long-Term Robot Localization
- Hybrid Interval-Probabilistic Localization in Building Maps
- NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection
- ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment
- One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
- ROLL: Long-Term Robust LiDAR-Based Localization with Temporary Mapping in Changing Environments
- Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds in Outdoor Environment
- Gaussian Variational Inference with Covariance Constraints Applied to Range-Only Localization
- OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition
- Global Data Association for SLAM with 3D Grassmannian Manifold Objects
- Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration
- Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
- FSM: Correspondenceless Scan-Matching of Panoramic 2D Range Scans
- BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
- InCloud: Incremental Learning for Point Cloud Place Recognition
- D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR SLAM in Complicated Circumstances with Noisy Point Clouds
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- DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments
- Indirect Point Cloud Registration: Aligning Distance Fields Using a Pseudo Third Point Set
- Point Cloud Registration Leveraging Structural Regularity in Manhattan World
- Gravity-Constrained Point Cloud Registration
- LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM (I)
- Linewise Non-Rigid Point Cloud Registration
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- Neural Scene Representation for Locomotion on Structured Terrain
- Make It Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments
- Roadside HD Map Object Reconstruction Using Monocular Camera
- Robust Change Detection Based on Neural Descriptor Fields
- S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference
- Photometric Single-View Dense 3D Reconstruction in Endoscopy
- Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction
- 3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
- Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
- Real-Time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection
- ACEFusion : Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes
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- Multi-Camera-LiDAR Auto-Calibration by Joint Structure-From-Motion
- Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs
- Robust Real-Time LiDAR-Inertial Initialization
- Exploring mmWave Radar and Camera Fusion for High-Resolution and Long-Range Depth Imaging
- Lidar with Velocity: Correcting Moving Objects Point Cloud Distortion from Oscillating Scanning Lidars by Fusion with Camera
- DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-Aware Flow
- TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis
- Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-Camera Using an Orthogonal Trihedron
- Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor
- Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles Using Static Objects Information
- Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors
- H-VLO: Hybrid LiDAR-Camera Fusion for Self-Supervised Odometry
- FAST-LIVO: Fast and Tightly-Coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
- Online Extrinsic Correction of Multi-Camera Systems by Low-Dimensional Parameterization of Physical Deformation
- Rail Vehicle Localization and Mapping with LiDAR-Vision-Inertial-GNSS Fusion
- CROON: Automatic Multi-LiDAR Calibration and Refinement Method in Road Scene
- Extrinsic Camera Calibration from a Moving Person
- High Precision and Robust Camera Calibration under Learning-Based Distortion Correction and Feature Detection
- Online Kinematic Calibration for Legged Robots
- Vision-Assisted Localization and Terrain Reconstruction with Quadruped Robots
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- Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag
- Robust Slip-Aware Fusion for Mobile Robots State Estimation
- Maintaining Robot Localizability with Bayesian Cramer-Rao Lower Bounds
- Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization
- Learning-Enhanced Adaptive Robust GNSS Navigation in Challenging Environments
- IMU Dead-Reckoning Localization with RNN-IEKF Algorithm
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- Multi-Agent Relative Pose Estimation with UWB and Constrained Communications
- Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements
- Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry
- HD-CCSOM: Hierarchical and Dense Collaborative Continuous Semantic Occupancy Mapping through Label Diffusion
- Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
- Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
- Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
- Tether-Based Localization for Cooperative Ground and Aerial Vehicles
- Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
- LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
- MR-TopoMap: Multi-Robot Exploration Based on Topological Map in Communication Restricted Environment
- Decentralized Learning with Limited Communications for Multi-Robot Coverage of Unknown Spatial Fields
- Efficient Range-Constrained Manifold Optimization with Application to Cooperative Navigation
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- GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D
- Online Target Localization using Adaptive Belief Propagation in the HMM Framework
- IMU Preintegration for 2D SLAM Problems Using Lie Groups
- Unmanned Aircraft System-Based Radiological Mapping of Buildings
- Robot-aided Microbial Density Estimation and Mapping
- Adaptive-Resolution Field Mapping Using Gaussian Process Fusion With Integral Kernels
- Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation
- LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion
- Hierarchical Road Topology Learning for Urban Map-less Driving
- Estimating Odometry Scale and UWB Anchor Location Based on Semidefinite Programming Optimization
- Group-K Consistent Measurement Set Maximization for Robust Outlier Detection
- MapLite 2.0: Online HD Map Inference Using a Prior SD Map
- Maintaining Robot Localizability with Bayesian Cramer-Rao Lower Bounds
- InCOpt: Incremental Constrained Optimization Using the Bayes Tree
- Spectral Measurement Sparsification for Pose-Graph SLAM
- Mapping of Spatiotemporal Scalar Fields by Mobile Robots using Gaussian Process Regression
- Active SLAM in 3D deformable environments
- Anchor Selection for SLAM Based on Graph Topology and Submodular Optimization
- Optimization Strategies for Bayesian Source Localization Algorithms
- A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization
- Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs
- Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
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