论文、代码地址:在公众号「3D视觉工坊」,后台回复「ICRA SLAM」,即可直接下载。
语义定位建图:
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 https://ieeexplore.ieee.org/document/9387091 Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping https://arxiv.org/abs/2011.04087 Semantic SLAM with Autonomous Object-Level Data Association https://arxiv.org/abs/2011.10625 Hybrid Bird's-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking (AVP) https://www.zhenzhenxiang.xyz/publication/icra2021/ Compositional and Scalable Object SLAM https://arxiv.org/abs/2011.02658 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 https://github.com/iandouglas96/cross_view_slam / https://ieeexplore.ieee.org/document/9361130 PSF-LO: Parameterized Semantic Features Based Lidar Odometry https://arxiv.org/abs/2010.13355 Point Set Registration with Semantic Region Association Using Cascaded Expectation Maximization
视觉SLAM
Visual SLAM
Asynchronous Multi-View SLAM https://arxiv.org/abs/2101.06562 B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles UPSLAM: Union of Panoramas SLAM https://arxiv.org/abs/2101.00585 Multi-Parameter Optimization for a Robust RGB-D SLAM System SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes https://arxiv.org/abs/2010.09409 MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos https://arxiv.org/abs/2012.05360 ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames https://arxiv.org/abs/2103.15068 Markov Parallel Tracking and Mapping for Probabilistic SLAM Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features https://arxiv.org/abs/2103.01501 Learning a State Representation and Navigation in Cluttered and Dynamic Environments https://arxiv.org/pdf/2103.04351 TT-SLAM: Dense Monocular SLAM for Planar Environments https://hal.inria.fr/hal-03169199/ OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications https://arxiv.org/abs/2102.04060 DOT: Dynamic Object Tracking for Visual SLAM https://arxiv.org/abs/2010.00052 DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences (I) https://arxiv.org/abs/1908.08918 RGB-D SLAM with Structural Regularities https://arxiv.org/abs/2010.07997 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 https://arxiv.org/abs/2104.00893 VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough https://arxiv.org/abs/2104.06800 Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping https://arxiv.org/abs/2011.04087
VO:
Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry https://arxiv.org/abs/2101.05995 Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment Deep Online Correction for Monocular Visual Odometry https://arxiv.org/abs/2103.10029 A Heteroscedastic Likelihood Model for Two-Frame Optical Flow https://arxiv.org/abs/2010.06871 Learning Optical Flow with R-CNN for Visual Odometry Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation https://ieeexplore.ieee.org/abstract/document/9361135/ Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry https://arxiv.org/abs/2102.01191 Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images https://hal.archives-ouvertes.fr/hal-03130945/document A Front-End for Dense Monocular SLAM Using a Learned Outlier Mask Prior
Visual Mapping:
Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping https://arxiv.org/pdf/2102.08145.pdf / https://github.com/ethz-asl/Hough2Map Lightweight Semantic Mesh Mapping for Autonomous Vehicles Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior https://arxiv.org/abs/2102.05212 Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning https://arxiv.org/abs/2101.01844 Direct Sparse Mapping (I)https://arxiv.org/abs/1904.06577 / https://github.com/jzubizarreta/dsm HyperMap: Compressed 3D Map for Monocular Camera Registration https://www.cs.cmu.edu/~kaess/pub/Chang21icra.pdf Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking https://arxiv.org/abs/2103.10968 Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments https://arxiv.org/abs/2103.16095
VIO:
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 https://ieeexplore.ieee.org/abstract/document/9350155 CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth https://arxiv.org/abs/2012.10133 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 https://arxiv.org/abs/2011.03993 Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle https://arxiv.org/abs/2103.01655 Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM https://arxiv.org/abs/2002.00195 Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements https://arxiv.org/abs/2010.11675 An Equivariant Filter for Visual Inertial Odometry https://arxiv.org/abs/2104.03532 Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization https://arxiv.org/abs/2006.06017 Cooperative Visual-Inertial Odometry https://hal.inria.fr/hal-02427991/document #####Tracking: Tracking 6-DoF Object Motion from Events and Frames https://arxiv.org/abs/2103.15568 Visual Tracking of Deforming Objects Using Physics-Based Models https://hal.inria.fr/hal-03179253/document Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping https://arxiv.org/abs/2103.05401 TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction
深度:
Robust Monocular Visual-Inertial Depth Completion for Embedded Systems http://udel.edu/~pgeneva/downloads/papers/c19.pdf Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation https://arxiv.org/abs/2103.02451 SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments https://arxiv.org/abs/2011.04977 Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image PENet: Towards Precise and Efficient Image Guided Depth Completion https://arxiv.org/abs/2103.00783 / https://github.com/JUGGHM/PENet_ICRA2021 Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation https://arxiv.org/abs/2103.12964 PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation https://arxiv.org/abs/2006.02068 Bidirectional Attention Network for Monocular Depth Estimation https://arxiv.org/abs/2009.00743 Self-Guided Instance-Aware Network for Depth Completion and Enhancement Deep Multi-View Depth Estimation with Predicted Uncertainty https://arxiv.org/abs/2011.09594 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
视觉场景识别:
Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion https://arxiv.org/abs/2010.09228 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 https://ieeexplore.ieee.org/abstract/document/9359453/ Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems https://arxiv.org/abs/2104.10067 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 https://arxiv.org/abs/2103.13580 Visual Place Recognition Via Local Affine Preserving Matching
激光场景识别:
DiSCO: Differentiable Scan Context with Orientation https://arxiv.org/abs/2010.10949 Robust Place Recognition Using an Imaging Lidar https://arxiv.org/abs/2103.02111 Locus: LiDAR-Based Place Recognition Using Spatiotemporal Higher-Order Pooling https://arxiv.org/abs/2011.14497 Resolving Place Recognition Inconsistencies Using Intra-Set Similarities https://ieeexplore.ieee.org/document/9359453/ Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition https://arxiv.org/abs/2103.08366 Place Recognition in Forests with Urquhart Tessellations http://arxiv.org/pdf/2010.03026
多传感器融合定位:
LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping https://arxiv.org/abs/2104.10831 / https://github.com/TixiaoShan/LVI-SAM MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping https://arxiv.org/abs/2105.03265 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 https://arxiv.org/pdf/2103.15215 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 https://www.researchgate.net/publication/349141103_Interval-Based_Visual-LiDAR_Sensor_Fusion CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System https://arxiv.org/abs/2011.11357 Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor https://irap.kaist.ac.kr/publications/hsjang-2021-icra.pdf Simple but Effective Redundant Odometry for Autonomous Vehicles https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/reinke2021icra.pdf Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry https://cvssp.org/Personal/OscarMendez/papers/pdf/MendezICRA2021.pdf Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry https://arxiv.org/abs/2011.06838 Vanishing Point Aided LiDAR-Visual-Inertial Estimator https://people.inf.ethz.ch/pomarc/pubs/CamposecoICRA15.pdf Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR https://github.com/iandouglas96/cross_view_slam / https://ieeexplore.ieee.org/document/9361130
多传感器融合建图:
Lidar-Monocular Surface Reconstruction Using Line Segments https://arxiv.org/abs/2104.02761 Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning
激光SLAM
lidar SLAM
SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure Greedy-Based Feature Selection for Efficient LiDAR SLAM https://arxiv.org/abs/2103.13090 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 https://ieeexplore.ieee.org/document/9357902 LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing https://ieeexplore.ieee.org/document/9359468 LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence https://arxiv.org/abs/2103.00784 2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment https://arxiv.org/abs/2102.03798 Online Range-Based SLAM Using B-Spline Surfaces https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2021/03/09359349.pdf MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square https://arxiv.org/abs/2102.03771 / https://github.com/YuePanEdward/MULLS Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data https://arxiv.org/abs/2104.03657 A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures https://hal.archives-ouvertes.fr/hal-03017841/document
lidar localization:
Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets https://github.com/dcmlr/fingerprint-localization / https://ieeexplore.ieee.org/abstract/document/9363614/ Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation https://arxiv.org/abs/2103.12292 Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization
lidar mapping:
BALM: Bundle Adjustment for Lidar Mapping https://arxiv.org/pdf/2010.08215 Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware https://arxiv.org/abs/2011.10348 ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building https://arxiv.org/abs/2103.04316 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 https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2021icra.pdf Dynamic Occupancy Grid Mapping with Recurrent Neural Networks https://arxiv.org/abs/2011.08659 Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data https://ieeexplore.ieee.org/document/9364688/ Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning https://arxiv.org/abs/2010.07929 MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks https://arxiv.org/abs/2010.09232
LO & LIO:
FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter https://arxiv.org/abs/2010.08196 KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry https://arxiv.org/abs/2010.13072 PSF-LO: Parameterized Semantic Features Based Lidar Odometry https://arxiv.org/abs/2010.13355 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 https://arxiv.org/pdf/2011.05418
Point Cloud Registration:
PHASER: A Robust and Correspondence-Free Global Pointcloud Registration https://arxiv.org/abs/2102.02767 Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction https://www.researchgate.net/publication/349678605_Differential_Information_Aided_3-D_Registration_for_Accurate_Navigation_and_Scene_Reconstruction/link/603be223299bf1cc26fbc4c3/download Robust Motion Averaging under Maximum Correntropy Criterion https://arxiv.org/pdf/2004.09829 Toward a Unified Framework for Point Set Registration http://cvl.ist.osaka-u.ac.jp/wp-content/uploads/2021/03/li_icra2021.pdf Voxelized GICP for Fast and Accurate 3D Point Cloud Registration https://easychair.org/publications/preprint/ftvV Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds Learning the Next Best View for 3D Point Clouds Via Topological Features https://arxiv.org/abs/2103.02789 A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras https://arxiv.org/abs/2012.03683
feature:
SKD: Keypoint Detection for Point Clouds Using Saliency Estimation https://arxiv.org/abs/1912.04943 Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator https://arxiv.org/pdf/2102.11261
固态激光:
Lightweight 3-D Localization and Mapping for Solid-State LiDAR https://arxiv.org/abs/2102.03800
点云压缩:
Deep Compression for Dense Point Cloud Maps https://github.com/PRBonn/deep-point-map-compression / https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/wiesmann2021ral.pdf
全局定位:
Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets https://github.com/dcmlr/fingerprint-localization / https://ieeexplore.ieee.org/document/9363614 Learned Uncertainty Calibration for Visual Inertial Localization Deep Samplable Observation Model for Global Localization and Kidnapping https://arxiv.org/abs/2009.00211 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 https://arxiv.org/abs/2010.09297 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 https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2021icra.pdf RadarLoc: Learning to Relocalize in FMCW Radar https://arxiv.org/abs/2103.11562 Freetures: Localization in Signed Distance Function Maps https://arxiv.org/abs/2010.09378 Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions https://ieeexplore.ieee.org/abstract/document/9354898/ Learning to Localize in New Environments from Synthetic Training Data https://arxiv.org/abs/2011.04539 Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps Robust Dual Quadric Initialization for Forward-Translating Camera Movements https://ieeexplore.ieee.org/document/9384189 3D Surfel Map-Aided Visual Relocalization with Learned Descriptors https://arxiv.org/abs/2104.03856
学习:
End-To-End Semi-Supervised Learning for Differentiable Particle Filters https://arxiv.org/abs/2011.05748 Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose Estimation
Radar:
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? https://github.com/keenan-burnett/yeti_radar_odometry / https://www.semanticscholar.org/paper/Do-We-Need-to-Compensate-for-Motion-Distortion-and-Burnett-Schoellig/1f20dab73a7e04c4f8dc801bd1de104b808a07db / https://arxiv.org/pdf/2011.03512 RadarLoc: Learning to Relocalize in FMCW Radar https://arxiv.org/abs/2103.11562 A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars
定位与建图(不确定传感器)
Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief
数据关联:
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association (I) https://arxiv.org/abs/1902.02256 ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants https://arxiv.org/abs/2011.03659 CLIPPER: A Graph-Theoretic Framework for Robust Data Association https://arxiv.org/abs/2011.10202
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 https://arxiv.org/abs/2103.14303 Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation https://arxiv.org/abs/2104.14711 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 https://arxiv.org/abs/2103.15354 Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization https://scholar.google.com/scholar?oi=bibs&hl=es&cluster=16177649896940716005
long-term:
Lifelong Localization in Semi-Dynamic Environment
标定:
Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments https://www.researchgate.net/publication/348894700_Extrinsic_Calibration_of_a_Small_FoV_LiDAR_and_a_Camera/link/601920b245851517ef32114f/download 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 https://arxiv.org/abs/2012.14292 A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration https://arxiv.org/abs/2103.07505 Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching https://arxiv.org/abs/2102.04341 Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications https://arxiv.org/abs/2010.07441
UWB:
Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points https://www.aau.at/wp-content/uploads/2021/03/UWB_Initialization_ICRA_CNS.pdf Relative Position Estimation between Two UWB Devices with IMUs https://arxiv.org/abs/2104.10730 UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection https://www.researchgate.net/profile/Alessandro-Fornasier/publication/350459466_Consistent_State_Estimation_on_Manifolds_for_Autonomous_Metal_Structure_Inspection/links/6061b364a6fdccbfea147687/Consistent-State-Estimation-on-Manifolds-for-Autonomous-Metal-Structure-Inspection.pdf
数学相关:
Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering https://www.researchgate.net/publication/347950562_Efficient_Modification_of_the_Upper_Triangular_Square_Root_Matrix_on_Variable_Reordering/link/6009d60a92851c13fe2a8084/download Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images https://arxiv.org/abs/2104.10900
数据集:
RADIATE: A Radar Dataset for Automotive Perception in Bad Weather https://arxiv.org/pdf/2010.09076 Cirrus: A Long-Range Bi-Pattern LiDAR Dataset https://arxiv.org/abs/2012.02938 VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments https://github.com/kminoda/VIODE / https://www.semanticscholar.org/paper/VIODE%3A-A-Simulated-Dataset-to-Address-the-of-in-Minoda-Schilling/2f339961731cbaedf54d71f874541a5894ef5a15 A Multi-Spectral Dataset for Evaluating Motion Estimation Systems https://arxiv.org/abs/2007.00622 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 https://arxiv.org/abs/2103.05383 DSEC: A Stereo Event Camera Dataset for Driving Scenarios https://arxiv.org/abs/2103.06011 AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild https://github.com/African-Robotics-Unit/AcinoSet / https://arxiv.org/abs/2103.13282
医学定位:
Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification https://ieeexplore.ieee.org/document/9353981
声源定位:
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 https://ieeexplore.ieee.org/document/9324934 UAV Localization Using Autoencoded Satellite Images https://arxiv.org/abs/2102.05692 Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots https://arxiv.org/abs/2103.01885 Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization
机器人定位建图:
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 https://arxiv.org/abs/2103.03395 A Comparison between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests https://arxiv.org/abs/2011.02508 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 https://arxiv.org/abs/2011.00439
PPA:
Weighted Node Mapping and Localisation on a Pixel Processor Array https://www.researchgate.net/publication/350187131_Weighted_Node_Mapping_and_Localisation_on_a_Pixel_Processor_Array/link/6054d443299bf17367550a00/download
Sonar:
Predictive 3D Sonar Mapping of Underwater Environments Via Object-Specific Bayesian Inference https://arxiv.org/abs/2104.03203
触觉SLAM:
Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing https://arxiv.org/abs/2011.07044
主动SLAM:
Invariant EKF Based 2D Active SLAM with Exploration Task
IMU:
IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach https://arxiv.org/abs/2103.14286 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 https://arxiv.org/abs/2103.0235
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