ICRA2021 SLAM方向论文汇总

2021-06-22 10:30:02 阅读：341 来源： 互联网

标签：abs ICRA2021 arxiv 汇总 Visual SLAM https org

ICRA 2021会议也已经开完了，所以对原来总结SLAM方向相关的文章进行了重新整理和补全，由于总结比较广泛，大约有200多篇，本文对论文进行了分类，并给出了下载地址和开源代码地址，希望对一起做SLAM研究的同行们提供一些有益的参考。完整版的分类论文原文见下方百度网盘链接，后续将在github上持续更新。

链接：https://pan.baidu.com/s/1NplHJezNTN_YetYmqI0qUg

提取码：gban

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://ieeexplore.ieee.org/document/9361153
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/2103.02357

标签：abs,ICRA2021,arxiv,汇总,Visual,SLAM,https,org
来源： https://blog.csdn.net/xhtchina/article/details/118101298

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