【泡泡机器人】ECCV2018之SLAM最新前沿动态（附文章链接和代码链接）

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【泡泡机器人】ECCV2018之SLAM最新前沿动态（附文章链接和代码链接）

2018 年 9 月 23 日 泡泡机器人SLAM

本文授权自作者 GitHub ID: YiChenCityU，未经许可，请勿转载。

本文转载自GitHub, 是作者收集的精选论文，跟踪SLAM前沿动态 (2017-2018)，包括纯视觉SLAM，三维重建，基础数学工具，导航路径规划，深度学习SLAM，激光与视觉融合等类别。

https://github.com/YiChenCityU/Recent_SLAM_Research

所有文中用彩色标注的论文，均已打包上传至百度云盘中，登录 泡泡论坛（www.paopaorobot.org） 即可获取（在泡泡论坛的置顶文章中）。

Visual SLAM

ECCV 2018

1. Absolute Orientation and Localization Estimation from an Omnidirectional Image

2. Loosely-Coupled Semi-Direct Monocular SLAM

3. MULTICOL-SLAM-A MODULAR REAL-TIME MULTI-CAMERA SLAM SYSTEM

4. Gaoxiang: LDSO: Direct Sparse Odometry with Loop Closure [带有回环检测的DSO]

5. PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features

6. Online Temporal Calibration for Monocular Visual-Inertial Systems

7. Direct Sparse Odometry with Rolling Shutter

8. Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM [对于光照变化很鲁棒]

9. A Robust and Accurate Simultaneous Localization and Mapping System for RGB-D Cameras

10. DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System

11. ProSLAM: Graph SLAM from a Programmer's Perspective [改变数据结构，计算资源更少]

https://gitlab.com/srrg-software/srrg_proslam/tree/master

12. A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration

https://gitlab.com/srrg-software/srrg_mpr

13. Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization

14. Data-Efficient Decentralized Visual SLAM

https://github.com/uzh-rpg/dslam_open

15. Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion

16. SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM

https://github.com/pamela-project/slambench2

17. Pose Estimation with Dual Quaternions and Iterative Closest Point

18. Comparison of two different objective functions in 2D point feature SLAM

19. PCR-Pro: 3D Sparse and Different Scale Point Clouds Registration and Robust Estimation of Information Matrix For Pose Graph SLAM

https://sites.google.com/view/pcr-pro

20. Low-Cost Multiple-MAV SLAM Using Open Source Software

21. A Fast Stereo Visual-Inertial Odometry for MAVs

22. Enhanced Visual Loop Closing for Laser-Based SLAM

23. Lightweight Visual Odometry for Autonomous Mobile Robots

24. Robustness Improvement of Long Range Landmark Tracking for Mobile Robots

25. Grid Map Guided Indoor 3D Reconstruction for Mobile Robots with RGB-D Sensors

26. Directional grid maps: modeling multimodal angular uncertainty in dynamic environments

27. A Loop Closure Detection Algorithm in Dynamic Scene [动态环境下回环检测]

28. A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives [VINSLAM 综述]

29. UFSM_VO: STEREO ODOMETRY BASED ON UNIFORMLY FEATURE SELECTION AND STRICTLY CORRESPONDENCE MATCHING [创新度一般]

30. DOVO: Mixed Visual Odometry Based on Direct Method and Orb Feature [通过特征点个数判断用直接法与光流法，交替使用]

31. 2018-09-10-Monocular Object and Plane SLAM in Structured Environments [约束中加入识别的物体与平面]

ECCV 2018 [都无代码，可惜]

32. 2018-09-14-Linear RGB-D SLAM for Planar Environments [卡尔曼滤波估计位姿与平面特征]

33. 2018-09-14-Good Line Cutting: towards Accurate Pose Tracking of Line-assisted VO/VSLAM [对于线特征提取线内信息最多的一段做SLAM，声称对低纹理，运动模糊鲁棒]

34. 2018-09-14-Deep Virtual Stereo Odometry:Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry [Cremers出品，用单目深度估计+DSO]

35. 2018-09-14-Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-Inertial Odometry [科大沈老师门生根叔出品，解决了卷帘快门问题，加速IMU预积分，以及使初始化更鲁棒，AR界梦寐以求的算法，可惜没代码]

36. 2018-09-14-Direct Sparse Odometry with Rolling Shutter [同样是Cremers出品，看题目就知道了]

37. 2018-09-14-VSO: Visual Semantic Odometry [题目越短，文章越牛逼？]

38. 2018-09-14-Semantically Aware Urban 3D Reconstruction with Plane-Based Regularization [最近都很喜欢加平面信息做SLAM]

39. 2018-09-14-Scale-Awareness of Light Field Camera based Visual Odometry [传感器特殊，使用光场相机：https://www.zhihu.com/question/20511442/answer/24066624]

40. 2018-09-14-Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving [沈老师出品，既估计相机位姿，也估计物体位置，对动态物体鲁棒]

41. 2018-09-14-Structure-from-Motion-Aware PatchMatch for Adaptive Optical Flow Estimation [三维重建方向]

42. 2018-09-14-Fast and Accurate Camera Covariance Computation for Large 3D Reconstruction [以数学为切入点，难懂]

43. 2018-09-14-Stereo relative pose from line and point feature triplets [点线结合，但是匹配的是三帧图像]

44. 2018-09-14-Realtime Time Synchronized Event-based Stereo [双目事件相机，第一家吧]

ICRA+CVPR

45. [ICRA 2018] Detection and Resolution of Motion Conflict in Visual Inertial Odometry [解决视觉与IMU估计值之间冲突问题]

46. [ICRA 2018] Monocular Visual Odometry Scale Recovery using Geometrical Constraint

47. [ICRA 2018] A Monocular SLAM System Leveraging Structural Regularity in Manhattan World [国内慢慢也有实验室开源了原理与code：http://cvrs.whu.edu.cn/projects/Struct-PL-SLAM/]

48. [ICRA 2018] Feature-constrained Active Visual SLAM for Mobile Robot Navigation [路径规划时候考虑特征点数量,代码在此：https://github.com/XinkeAE/Active-ORB-SLAM2]

49. [ICRA 2018] Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

50. [ICRA 2018] Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial [沈老师连续两篇路径规划]

51. [ICRA 2018] Assigning Visual Words to Places for Loop Closure Detection [使用GNG clustering algorithm]

52. [ICRA 2018] Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints

53. [ICRA 2018] Online Initialization and Automatic Camera-IMU Extrinsic Calibration for Monocular Visual-Inertial SLAM [单目IMU自动标定，老铁知道比VINS好在哪里么]

54. [CVPR 2018] Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions [针对于场景变化较大时，例如四季变换的SLAM数据集]

55. [CVPR 2018] ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial [SLAM新的优化库]

56. [CVPR 2018] Fast Monte-Carlo Localization on Aerial Vehicles usingApproximate Continuous Belief Representations [粒子滤波viusal+IMU]

57. [CVPR 2018] CodeSLAM — Learning a Compact, Optimisable Representation for Dense Visual SLAM

58. [CVPR 2018] Semantic Visual Localization

59. [CVPR 2018] Polarimetric Dense Monocular SLAM [偏振光传感器SLAM，传感器原理：http://thinklucid.cn/tech-briefs/polarization-explained-sony-polarized-sensor/]

60. [CVPR 2018] InLoc: Indoor Visual Localization with Dense Matching and View Synthesis [已知3Dmap做定位]

61. [CVPR 2018] Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction [Ian Reid出品，代码在此：https://github.com/Huangying-Zhan/Depth-VO-Feat]

基础工具 Basic tools

1. MatchBench: An Evaluation of Feature Matchers

2. In Defense of Relative Multi-View Geometry

3.Towards A Deep Insight into Landmark-based Visual Place Recognition: Methodology and Practice

4. SC-RANSAC: Spatial consistency on RANSAC

5. Five-point algorithm: an efficient cloud-based FPGA implementation

6. Nonlinear Distortion Calibration of an Optical Flow Sensor for Monocular Visual Odometry

7.Matrix Difference in Pose-Graph Optimization

https://gitlab.com/srrg-software/srrg_g2o_chordal_plugin

8.Fast and robust local feature extraction for 3D reconstruction

9.RES-Q: Robust Outlier Detection Algorithm for Fundamental Matrix Estimation

10. Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm

11. An Improved RANSAC Algorithm for Simultaneous Localization and Mapping

视觉激光融合 Fusion of visual and laser

1.Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter

2. ROBUST LOOP CLOSURES FOR SCENE RECONSTRUCTION BY COMBINING ODOMETRY AND VISUAL CORRESPONDENCES [RGBD+odometry 做回环检测]

https://www.youtube.com/watch?v=peXrP374MVI https://github.com/zlaskar/Robust-Loop-Closures

3. Laser-visual-inertial odometry and mapping with high robustness and low drift1

三维重建 3D reconstruction

1. PSDF Fusion: Probabilistic Signed Distance Function for On-the-fly 3D Data Fusion and Scene Reconstruction

2. EchoFusion: Tracking and Reconstruction of Objects in 4D Freehand Ultrasound Imaging without External Trackers

3. Robust 3D Surface Reconstruction in Real-Time with Localization Sensor

4.Depth Super-Resolution Meets Uncalibrated Photometric Stereo [低分辨率depth+不同光照下，同一视角高分辨率RBG => 高分辨率深度图]

5.Object Pose Estimation from Monocular Image using Multi-View Keypoint Correspondence

6.2018-09-15-Real-time High-accuracy Three-Dimensional Reconstruction with Consumer RGB-D Cameras [加入了uncertaintyaware,and local-to-global RGB-D bundle adjustment strategy]

深度学习（DL）+SLAM

1. DeepTAM: Deep Tracking and Mapping

2. Real-time Dense Monocular SLAM with Online Adapted Depth Prediction Network

3. VSO: Visual Semantic Odometry

4. Graph-Based Place Recognition in Image Sequences with CNN Features

5. Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments

6. UnDeepVO: Monocular Visual Odometry through Unsupervised Deep Learning github:

https://github.com/drmaj/UnDeepVO

7. Fusion++: Volumetric Object-Level SLAM

8. 2018-07-25 Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry [TUM DL+DSO大作]