IROS-2022-SLAM-paper-list

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.

Table of contents

• 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

Dataset

• 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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Visual odometry / Visual SLAM / Structure-From-Motion

• 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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Visual-inertial odometry / Visual-inertial SLAM

• 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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Visual localization / Visual place recognition

• 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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LiDAR odometry / LiDAR SLAM

• 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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LiDAR-inertial odometry / LiDAR-inertial SLAM

• A LiDAR-Inertial Odometry with Principled Uncertainty Modeling

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LiDAR localization / LiDAR place recognition

• 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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Point cloud registration

• 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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3D reconstruction

• 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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Sensor fusion

• 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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Inertial odometry / INS

• 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 Robot SLAM / Localization

• 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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Etc

• 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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