# 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)