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https://github.com/YiChenCityU/Recent_SLAM_Research

Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】業務調整，暫停更新
https://github.com/YiChenCityU/Recent_SLAM_Research

fusion lidar-odometry lidar-slam mobile-robots multiple-sensors open-source reconstruction research-paper semantic slam state-estimation vins vslam

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Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】業務調整，暫停更新

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# Recent_SLAM_Research_2021

[SLAM research 2018](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2018.md)



[SLAM research 2019](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2019.md)



[SLAM research 2020](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/SLAM_Research_2020.md)



### SLAM 

#### 1. [Fusion] 2021-01-14-[Visual-IMU State Estimation with GPS and OpenStreetMap for Vehicles on a Smartphone](https://ieeexplore.ieee.org/abstract/document/9305386)

#### 2. [Math] 2021-01-14-[On the Tightness of Semidefinite Relaxations for Rotation Estimation](https://arxiv.org/pdf/2101.02099.pdf)

#### 3. [Calibration] 2021-01-14-[On-the-fly Extrinsic Calibration of Non-Overlapping in-Vehicle Cameras based on Visual SLAM under 90-degree Backing-up Parking](https://ieeexplore.ieee.org/abstract/document/9304530)

#### 4. [Descriptor] 2021-01-14-[ASD-SLAM: A Novel Adaptive-Scale Descriptor Learning for Visual SLAM](https://ieeexplore.ieee.org/abstract/document/9304626)

#### 5. [Panoramas] 2021-01-14-[UPSLAM: Union of Panoramas SLAM](https://arxiv.org/pdf/2101.00585.pdf)

#### 6. [PhD thesis] 2021-01-14-[Uncertainty-Aware Attention Guided Sensor Fusion For Monocular Visual Inertial Odometry](https://elib.dlr.de/137048/1/thesis_ks.pdf)

#### 7. [Calibration] 2021-01-23-[Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups](https://arxiv.org/pdf/2101.04431.pdf)

#### 8. [Math] 2021-01-23-[Factor Graphs: Exploiting Structure in Robotics](https://www.annualreviews.org/doi/abs/10.1146/annurev-control-061520-010504)

#### 9. [ICP] 2021-01-23-[Provably Approximated ICP](https://arxiv.org/pdf/2101.03588.pdf)

#### 10. [MC-slam] 2021-01-23-[TIMA SLAM: Tracking Independently and Mapping Altogether for an Uncalibrated Multi-Camera System](https://www.mdpi.com/1424-8220/21/2/409)

#### 11. [VIO] 2021-02-09-[Open AccessArticle Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles](https://www.mdpi.com/2218-6581/10/1/23/htm)

#### 12. [VIO] 2021-02-09-[VIO-Aided Structure from Motion Under Challenging Environments](https://arxiv.org/pdf/2101.09657.pdf)

#### 13. [Calibration] 2021-02-09-[High-Precision Multicamera-Assisted Camera-IMU Calibration: Theory and Method](https://ieeexplore.ieee.org/abstract/document/9324746)

#### 14. [DirectVO] 2021-02-09-[Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry](https://arxiv.org/pdf/2102.01191.pdf)

#### 15. [Calibration] 2021-02-25-[Simultaneous End User Calibration of Multiple Magnetic Inertial Measurement Units With Associated Uncertainty](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9348890)

#### 16. [VSLAM] 2021-02-25-[Point-line-based RGB-D SLAM and Bundle Adjustment Uncertainty Analysis](https://arxiv.org/pdf/2102.07110.pdf)

#### 17. [VIO] 2021-02-25-[Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM](https://arxiv.org/pdf/2102.08596.pdf)

#### 18. [VIO] 2021-03-09-[OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications](https://arxiv.org/pdf/2102.04060.pdf)

#### 19. [LVIO] 2021-03-09-[R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping](https://arxiv.org/pdf/2102.12400.pdf)

#### 20. [Review] 2021-03-09-[Visual and Visual-Inertial SLAM: State of the Art, Classification,and Experimental Benchmarking](https://www.hindawi.com/journals/js/2021/2054828/)

#### 21. [DVS] 2021-03-09-[Data-set for Event-based Optical Flow Evaluation in Robotics Applications](https://www.scitepress.org/Papers/2021/103203/103203.pdf)

#### 22. [Lidar slam] 2021-03-09-[GR-LOAM: LiDAR-based sensor fusion SLAM for ground robots on complex terrain](https://www.sciencedirect.com/science/article/abs/pii/S0921889021000440)

#### 23. [Fusion] 2021-03-09-[Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization](https://ieeexplore.ieee.org/abstract/document/9350155)

#### 24. [VIO] 2021-03-09-[Accurate Visual-Inertial SLAM by Feature Re-identification](https://arxiv.org/pdf/2102.13438.pdf)

#### 25. [Filter] 2021-03-09-[PHD-SLAM 2.0: Efficient SLAM in the Presence of Missdetections and Clutter](https://ieeexplore.ieee.org/abstract/document/9347824)

#### 26. [R-LOAM] 2021-03-09-[R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object](https://ieeexplore.ieee.org/abstract/document/9357902)

#### 27. [VIO] 2021-03-09-[A One-Step Visual-Inertial Ego-Motion Estimation using Photometric Feedback](https://ieeexplore.ieee.org/abstract/document/9351635)

#### 28. [Panoramic] 2021-03-09-[Panoramic annular SLAM with loop closure and global optimization](https://arxiv.org/pdf/2102.13400.pdf)

#### 29. [Fusion] 2021-03-09-[Visual-Gyroscope-Wheel Odometry with Ground Plane Constraint for Indoor Robots in Dynamic Environment](https://ieeexplore.ieee.org/abstract/document/9347674)

#### 30. [Learned VO] 2021-03-09-[DF-VO: What Should Be Learnt for Visual Odometry?](https://arxiv.org/pdf/2103.00933.pdf)

#### 31. [Fusion] 2021-03-09-[An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation](https://pubmed.ncbi.nlm.nih.gov/33668886/)

#### 32. [VIO] 2021-03-09-[Run Your Visual-Inertial Odometry on NVIDIA Jetson : Benchmark Tests on a Micro Aerial Vehicle](https://arxiv.org/pdf/2103.01655.pdf)

#### 33. [Reconstruction] 2021-03-09-[A Pose-only Solution to Visual Reconstruction and Navigation](https://arxiv.org/pdf/2103.01530.pdf)

#### 34. [Reconstruction] 2021-03-09-[Square Root Bundle Adjustment for Large-Scale Reconstruction](https://arxiv.org/pdf/2103.01843.pdf)

#### 35. [Fusion] 2021-03-09-[Range-Visual-Inertial Odometry: Scale Observability Without Excitation](https://ieeexplore.ieee.org/abstract/document/9353193)

#### 36. [Optimization] 2021-03-09-[Sparse Pose Graph Optimization in Cycle Space](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9346012)

#### 37. [DeepVO] 2021-03-26-[Deep Online Correction for Monocular Visual Odometry](https://arxiv.org/pdf/2103.10029.pdf)

#### 38. [RP-VIO] 2021-03-26-[RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments](https://arxiv.org/pdf/2103.10400.pdf)

#### 39. [Application] 2021-03-26-[Small Commercial UAVs for Indoor Search and Rescue Missions](https://ieeexplore.ieee.org/abstract/document/9376551)

#### 40. [calibration] 2021-04-01-[A Joint Extrinsic Calibration Tool for Radar, Camera and Lidar](https://www.researchgate.net/publication/335144582_An_Extrinsic_Calibration_Tool_for_Radar_Camera_and_Lidar)

#### 41. [Learning SFM] 2021-04-01-[DRO: Deep Recurrent Optimizer for Structure-from-Motion](https://arxiv.org/pdf/2103.13201.pdf)

#### 42. [VIO] 2021-04-01-[Distributed Visual-Inertial Cooperative Localization](https://arxiv.org/pdf/2103.12770.pdf)

#### 43. [VO] 2021-04-01-[MBA-VO: Motion Blur Aware Visual Odometry](https://arxiv.org/pdf/2103.13684.pdf)

#### 44. [Reconstruction] 2021-04-14-[Sketch2Mesh: Reconstructing and Editing 3D Shapes from Sketches](https://arxiv.org/pdf/2104.00482.pdf)

#### 45. [Reconstruction] 2021-04-14-[Deep Two-View Structure-from-Motion Revisited](https://arxiv.org/pdf/2104.00556.pdf)

#### 46. [Reconstruction] 2021-04-14-[NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video](https://arxiv.org/pdf/2104.00681.pdf)

#### 47. [Mapping] 2021-04-14-[A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior](https://arxiv.org/pdf/2104.00562.pdf)

#### 48. [VO] 2021-04-14-[An Energy-Efficient Quad-Camera Visual System for Autonomous Machines on FPGA Platform](https://arxiv.org/pdf/2104.00192.pdf)

#### 49. [VO] 2021-04-14-[FSD-SLAM: a fast semi-direct SLAM algorithm](https://link.springer.com/article/10.1007/s40747-021-00323-y)

#### 50. [Reconstruction] 2021-04-14-[3D SURFACE RECONSTRUCTION FROM MULTI-DATE SATELLITE IMAGES](https://arxiv.org/pdf/2102.02502.pdf)

#### 51. [VO] 2021-04-14-[Towards Real-time Semantic RGB-D SLAM in Dynamic Environments](https://arxiv.org/pdf/2104.01316.pdf)

#### 52. [ORB] 2021-05-15-[Reconfigurable Multi-Access Pattern Vector Memory For Real-Time ORB Feature Extraction](https://ieeexplore.ieee.org/abstract/document/9401698)

#### 53. [VIO] 2021-05-15-[An Equivariant Filter for Visual Inertial Odometry](https://arxiv.org/pdf/2104.03532.pdf)

#### 54. [VO] 2021-05-15-[VOLDOR+SLAM: For the times when feature-based or direct methods are not good enough](https://arxiv.org/pdf/2104.06800.pdf)

#### 55. [LVI] 2021-05-15-[LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping](https://arxiv.org/pdf/2104.10831.pdf)

#### 56. [VO] 2021-05-15-[Extreme Rotation Estimation using Dense Correlation Volumes](https://arxiv.org/pdf/2104.13530.pdf)

#### 57. [optimization] 2021-06-07-[A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM](https://lamor.fer.hr/images/50036607/2021-ajuric-comparison-mipro.pdf)

#### 58. [calibration] 2021-06-07-[iCalib: Inertial Aided Multi-Sensor Calibration](http://yangyulin.net/papers/2021_vinsworkshop_iCalib.pdf)

#### 59. [learned vo] 2021-06-07-[DeepAVO: Efficient Pose Refining with Feature Distilling for Deep Visual Odometry](https://arxiv.org/pdf/2105.09899.pdf)

#### 60. [Reconstruction] 2021-06-07-[Multi-view 3D Reconstruction of a Texture-less Smooth Surface of Unknown Generic Reflectance](https://arxiv.org/pdf/2105.11599.pdf)

#### 61. [Tools] 2021-08-13-[OdoViz: A 3D Odometry Visualization and Processing Tool](https://arxiv.org/pdf/2107.07557.pdf)

#### 62. [Fusion] 2021-08-24-[Multi-Camera Sensor Fusion for Visual Odometry using Deep Uncertainty Estimation](http://personal.ee.surrey.ac.uk/R.Bowden/publications/2021/Kaygusuz_ITSC2021pp.pdf)

#### 63. [Fusion] 2021-08-24-[Resilient Indoor Localization System Based on UWB and Visual–Inertial Sensors for Complex Environments](https://ieeexplore.ieee.org/abstract/document/9503372)

#### 64. [Event camera] 2021-08-24-[TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset](https://arxiv.org/pdf/2108.07329.pdf)

#### 65. [Monocular] 2021-08-24-[A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Driving](https://arxiv.org/pdf/2108.07736.pdf)

#### 66. [Fusion] 2021-08-24-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://sites.google.com/site/drjizhao/PanL_2021_ICRA.pdf)

#### 67. [BA] 2021-08-24-[SBAS: Salient Bundle Adjustment for Visual SLAM](https://ieeexplore.ieee.org/abstract/document/9514570)

#### 68. [Lidar] 2021-08-24-[Piecewise Linear De-skewing for LiDAR Inertial Odometry](https://arxiv.org/pdf/2108.06078.pdf)

#### 69. [Deep SLAM] 2021-08-25-[DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://arxiv.org/pdf/2108.10869.pdf)

#### 70. [Deep SLAM] 2021-08-27-[MDN-VO: Estimating Visual Odometry with Confidence](http://personal.ee.surrey.ac.uk/Personal/R.Bowden/publications/2021/Kaygusuz_IROS2021pp.pdf)

#### 71. [Object slam] 2021-08-30-[DSP-SLAM: Object Oriented SLAM with Deep Shape Priors](https://arxiv.org/pdf/2108.09481.pdf)

#### 72. [VSLAM] 2021-08-30-[Semi-dense visual-inertial odometry and mapping for computationally constrained platforms](https://link.springer.com/article/10.1007/s10514-021-10002-z)

#### 73. [BA] 2021-09-01-[On Bundle Adjustment for Multiview Point Cloud Registration](https://arxiv.org/pdf/2108.02976.pdf)

#### 73. [Math] 2021-09-01-[Robust Rank Deficient SLAM](https://assets.amazon.science/3e/7e/cf8b582f40d5bef6ba075e86bea7/robust-rank-deficient-slam.pdf)

#### 73. [COVINS] 2021-09-01-[COVINS: Visual-Inertial SLAM for Centralized Collaboration](https://arxiv.org/pdf/2108.05756.pdf)

#### 74. [EKF VIO] 2021-09-10-[An Equivariant Filter for Visual Inertial Odometry](https://arxiv.org/pdf/2104.03532.pdf)

#### 75. [Event Camera] 2021-09-10-[EventPoint: Self-Supervised Local Descriptor Learning for Event Cameras](https://arxiv.org/pdf/2109.00210.pdf)

#### 76. [GNSS] 2021-09-10-[GNSS Outlier Mitigation Via Graduated NonConvexity Factor Graph Optimization](https://arxiv.org/pdf/2109.00667.pdf)

#### 77. [VSLAM] 2021-09-10-[Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction](https://arxiv.org/pdf/2108.04281.pdf)

#### 78. [VIO] 2021-09-10-[Sampson Distance: A New Approach to Improving VisualInertial Odometry’s Accuracy](http://www.people.vcu.edu/~cye/Sampson_IROS_2021.pdf)

#### 79. [Application] 2021-09-10-[A Wearable Robotic Device for Assistive Navigation and Object Manipulation](http://www.people.vcu.edu/~cye/Wearble_Aid_IROS2021.pdf)

#### 80. [Reconstruction] 2021-09-10-[Vis2Mesh: Efficient Mesh Reconstruction from Unstructured Point Clouds of Large Scenes with Learned Virtual View Visibility](https://github.com/GDAOSU/vis2mesh)

#### 81. [IMU] 2021-09-13-[Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization](https://arxiv.org/pdf/2109.03010.pdf)

#### 82. [UWB] 2021-09-13-[MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization](https://arxiv.org/abs/2109.00747)

#### 83. [SLAM] 2021-09-13-[Predicting Performance of SLAM Algorithms](https://arxiv.org/pdf/2109.02329.pdf)

#### 84. [DL based] 2021-09-13-[UnDeepLIO: Unsupervised Deep Lidar-Inertial Odometry](https://arxiv.org/pdf/2109.01533.pdf)

#### 85. [Fusion] 2021-09-13-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://db6b4ecf-a-62cb3a1a-s-sites.googlegroups.com/site/drjizhao/PanL_2021_ICRA.pdf?attachauth=ANoY7co5u5zWmD-XRJl8KUlAXSZarHJynMOXImGGTAoHfLqhwA9xR2lpr6IripVIAt-hz1c1dPYW3TafQD9IUPSz2H3ar3woGUfvBFb7F-KyuCWYsedQVhs1G8_yWlvIXRjt1nHbM8ykss9OLLGzL5FiXuhWy8P8BnnVlenE--uVp4vKzsP5yPnlgY2oho8V2nrFVV5dmdtwvcUdXIvm5HKSsl3mB0Zx8w%3D%3D&attredirects=0)

#### 86. [BA] 2021-09-13-[Square Root Marginalization for Sliding-Window Bundle Adjustment](https://arxiv.org/pdf/2109.02182.pdf)

#### 87. [VIO] 2021-09-15-[Semi-dense visual-inertial odometry and mapping for computationally constrained platforms](https://link.springer.com/article/10.1007/s10514-021-10002-z)

#### 87. [DeepLearning BA] 2021-09-15-[PoGO-Net: Pose Graph Optimization with Graph Neural Networks](https://www3.cs.stonybrook.edu/~hling/publication/PoGO-Net-21.pdf)

#### 88. [DeepLearning MVS] 2021-09-15-[NeuralMVS: Bridging Multi-View Stereo and Novel View Synthesis](https://arxiv.org/pdf/2108.03880.pdf)

#### 89. [IMU] 2021-09-15-[Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization](https://arxiv.org/pdf/2109.03010.pdf)

#### 90. [Thesis] 2021-09-15-[Self Exploration and Mapping for Indoor Robotic Applications](https://repositories.lib.utexas.edu/handle/2152/87236)

#### 91. [Fusion] 2021-09-15-[Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps](https://db6b4ecf-a-62cb3a1a-s-sites.googlegroups.com/site/drjizhao/PanL_2021_ICRA.pdf?attachauth=ANoY7co5u5zWmD-XRJl8KUlAXSZarHJynMOXImGGTAoHfLqhwA9xR2lpr6IripVIAt-hz1c1dPYW3TafQD9IUPSz2H3ar3woGUfvBFb7F-KyuCWYsedQVhs1G8_yWlvIXRjt1nHbM8ykss9OLLGzL5FiXuhWy8P8BnnVlenE--uVp4vKzsP5yPnlgY2oho8V2nrFVV5dmdtwvcUdXIvm5HKSsl3mB0Zx8w%3D%3D&attredirects=0)

#### 92. [BA] 2021-09-15-[Square Root Marginalization for Sliding-Window Bundle Adjustment](https://arxiv.org/pdf/2109.02182.pdf)

#### 93. [semantic] 2021-09-23-[Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM](https://arxiv.org/pdf/2109.07748.pdf)

#### 94. [mapping] 2021-09-23-[Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online 3D SLAM](https://arxiv.org/pdf/2109.07082.pdf)

#### 95. [semantic] 2021-09-23-[S3LAM: Structured Scene SLAM](https://arxiv.org/pdf/2109.07339.pdf)

#### 96. [fusion] 2021-09-23-[R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package](https://arxiv.org/pdf/2109.07982.pdf)

#### 97. [Calibration] 2021-09-23-[Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras](https://arxiv.org/pdf/2109.06550.pdf)

#### 98. [lidar] 2021-09-23-[Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors](https://arxiv.org/pdf/2109.07073.pdf)

#### 99. [Math] 2021-10-21-[Active SLAM over Continuous Trajectory and Control:A Covariance-Feedback Approach](https://arxiv.org/pdf/2110.07546.pdf)

#### 100. [radar] 2021-10-21-[Oriented surface points for efficient and accurate radar odometry](https://arxiv.org/pdf/2109.09994.pdf)

#### 101. [Dataset] 2021-10-21-[DenseMatch: a dataset for real-time 3D reconstruction](https://www.sciencedirect.com/science/article/pii/S2352340921007575)