# Recent_SLAM_Research **Repository Path**: stevewj/Recent_SLAM_Research ## Basic Information - **Project Name**: Recent_SLAM_Research - **Description**: Track Advancement of SLAM 跟踪SLAM前沿动态【ICRA2019已更】 - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 1 - **Created**: 2022-09-23 - **Last Updated**: 2022-09-23 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Recent_SLAM_Research 【回馈社区】跟踪SLAM前沿动态(2019), [2018版](https://github.com/YiChenCityU/Recent_SLAM_Research/blob/master/README_2018.md) 技术更新太快，开启paper暴走模式，精选paper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。如果你发现我遗漏了本年度比较优秀的论文，请开issue留言，不胜感激。 ### 招聘即将上市机器人独角兽广招SLAM算法工程师。邮箱：easonjianghk@gmail.com ## SLAM 能力图

### ------------ ICRA 2019 重磅来袭吐血整理关于SLAM部分 [下载链接](https://drive.google.com/open?id=1e-5pBpfkXBvMeeYzVjC4sv_LhCgN3RB8)---------- #### 0031 Aided Inertial Navigation - Unified Feature Representations and Observability Analysis #### 0036 Learning Wheel Odometry and IMU Errors for Localization #### 0041 MH-iSAM2 - Multi-Hypothesis iSAM Using Bayes Tree and Hypo-Tree #### 0060 Deep Reinforcement Learning of Navigation in a Complex and Crowded Environment with a Limited Field of View #### 0078 Living with a Mobile Companion Robot in Your Own Apartment - Final Implementation and Results of a 20-Weeks Field Study #### 0095 Visual SLAM - Why Bundle Adjust #### 0118 Project AutoVision - Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System #### 0120 A Kalman Filter-Based Algorithm for Simultaneous Time Synchronization and Localization in UWB Network #### 0122 Pose Graph Optimization for Unsupervised Monocular Visual Odometry #### 0193 Learning Ad-Hoc Compact Representations from Salient Landmarks for Visual Place Recognition in Underwater Environments #### 0212 A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM #### 0215 Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot #### 0239 Tightly Coupled 3D Lidar Inertial Odometry and Mapping #### 0251 Fast Stochastic Functional Path Planning in Occupancy Maps #### 0257 A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures #### 0306 FMD Stereo SLAM - Fusing MVG and Direct Formulation towards Accurate and Fast Stereo SLAM #### 0317 Lidar Measurement Bias Estimation Via Return Waveform Modelling in a Context of 3D Mapping #### 0326 Rorg - Service Robot Software Management with Linux Containers #### 0336 Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving #### 0353 Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation #### 0355 Enabling Identity-Aware Tracking Via Fusion of Visual and Inertial Feature #### 0362 A New Approach to Local Navigation for Autonomous Driving Vehicles Based on the Curvature Velocity Method #### 0371 LookUP - Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles #### 0378 Uncertainty Estimation for Projecting Lidar Points Onto Camera Images for Moving Platforms #### 0389 Efficient Integrity Monitoring for KF-Based Localization #### 0390 SweepNet - Wide-Baseline Omnidirectional Depth Estimation #### 0395 3D Surface Reconstruction Using a Two-Step Stereo Matching Method Assisted with Five Projected Patterns #### 0431 Road Detection through CRF based LiDAR-Camera Fusion #### 0434 Real-Time Model Based Path Planning for Wheeled Vehicles #### 0448 Improving Keypoint Matching Using a Landmark-Based Image Representation #### 0467 Adding Cues to Binary Feature Descriptors for Visual Place Recognition #### 0508 Fast and Robust Initialization for Visual-Inertial SLAM #### 0522 ScalableFusion - High-Resolution Mesh-Based Real-Time 3D Reconstruction #### 0549 High-Precision Localization Using Ground Texture #### 0552 Actively Improving Robot Navigation on Different Terrains Using Gaussian Process Mixture Models #### 0561 KO-Fusion - Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking #### 0589 Learning Scene Geometry for Visual Localization in Challenging Conditions #### 0595 CNN-SVO - Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction #### 0613 Learning Action Representations for Self-supervised Visual Exploration #### 0636 Robust Object-Based SLAM for High-Speed Autonomous Navigation #### 0658 A Scalable Framework For Real-Time Multi-Robot Multi-Human Collision Avoidance #### 0660 SuperDepth - Self-Supervised Super-Resolved Monocular Depth Estimation #### 0666 Safe and Complete Real-Time Planning and Exploration in Unknown Environments #### 0674 Visual-Inertial Navigation - A Concise Review #### 0697 Uncertainty-Aware Occupancy Map Prediction Using Generative Networks for Robot Navigation #### 0700 Illumination Robust Monocular Direct Visual Odometry for Outdoor Environment Mapping #### 0717 GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping #### 0782 A Comparison of CNN-Based and Hand-Crafted Keypoint Descriptors #### 0783 IN2LAMA - INertial Lidar Localisation and MApping #### 0798 Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection #### 0860 Semantic Mapping for View-Invariant Relocalization #### 0862 Robotic Forceps without Position Sensors Using Visual SLAM #### 0867 Environment Driven Underwater Camera-IMU Calibration for Monocular Visual-Inertial SLAM #### 0897 Dense 3D Visual Mapping Via Semantic Simplification #### 0903 Redundant Perception and State Estimation for Reliable Autonomous Racing #### 0954 Semantic Mapping Extension for OpenStreetMap Applied to Indoor Robot Navigation #### 0968 Multirotor Dynamics Based Online Scale Estimation for Monocular SLAM #### 0970 UWBLiDAR Fusion for Cooperative Range-Only SLAM #### 0979 A Supervised Approach to Predicting Noise in Depth Images #### 0999 Dynamic Hilbert Maps - Real-Time Occupancy Predictions in Changing Environments #### 1008 Learning Monocular Visual Odometry through Geometry-Aware Curriculum Learning #### 1036 A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation #### 1045 Leveraging Structural Regularity of Atlanta World for Monocular SLAM #### 1072 Improving the Robustness of Visual-Inertial Extended Kalman Filtering #### 1073 ATLAS FaST - Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization #### 1086 Visual Appearance Analysis of Forest Scenes for Monocular SLAM #### 1090 Closed-Loop MPC with Dense Visual SLAM - Stability through Reactive Stepping #### 1092 Pedestrian Dominance Modeling for Socially-Aware Robot Navigation #### 1105 Energy-Aware Temporal Logic Motion Planning for Mobile Robots #### 1126 Real-Time Dense Mapping for Self-Driving Vehicles Using Fisheye Cameras #### 1129 RESLAM - A Real-Time Robust Edge-Based SLAM System #### 1143 Dense Surface Reconstruction from Monocular Vision and LiDAR #### 1147 Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB #### 1173 Depth Completion with Deep Geometry and Context Guidance #### 1176 Learned Map Prediction for Enhanced Mobile Robot Exploration #### 1204 DeepFusion - Real-Time Dense 3D Reconstruction for Monocular SLAM Using Single-View Depth and Gradient Predictions #### 1211 Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements #### 1247 Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry #### 1265 Adaptive Bingham Distribution Based Filter for SE(3) Estimation #### 1267 MID-Fusion - Octree-Based Object-Level Multi-Instance Dynamic SLAM #### 1278 Autonomous Exploration Reconstruction and Surveillance of 3D Environments Aided by Deep Learning #### 1322 Speeding up Iterative Closest Point Using Stochastic Gradient Descen #### 1324 Building a Winning Self-Driving Car in Six Months #### 1327 Obstacle-Aware Adaptive Informative Path Planning for UAV-Based Target Search #### 1340 OVPC Mesh - 3D Free-Space Representation for Local Ground VehicleNavigation #### 1358 Multi-Robot Informative Path Planning with Continuous Connectivity Constraints #### 1365 Look No Deeper - Recognizing Places from Opposing Viewpoints under Varying Scene Appearance Using Single-View Depth Estimation #### 1380 GANVO - Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks #### 1381 Efficient Constellation-Based Map-Merging for Semantic SLAM #### 1383 Multimodal Semantic SLAM with Probabilistic Data Associatio #### 1422 Surfel-Based Dense RGB-D Reconstruction with Global and Local Consistency #### 1448 3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM #### 1458 Characterizing Visual Localization and Mapping Datasets #### 1549 A-SLAM - Human-In-The-Loop Augmented SLAM #### 1555 Dynamic Channel - A Planning Framework for Crowd Navigation #### 1560 2D LiDAR Map Prediction Via Estimating Motion Flow with GRU #### 1567 Efficient 2D-3D Matching for Multi-Camera Visual Localization #### 1593 Where Should We Place LiDARs on the Autonomous Vehicle - An Optimal Design Approach #### 1599 Efficient Trajectory Planning for High Speed Flight in Unknown Environments #### 1607 Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints #### 1636 Depth Generation Network - Estimating Real World Depth from Stereo and Depth Images #### 1688 Localizing Discriminative Visual Landmarks for Place Recognition #### 1697 ROVO - Robust Omnidirectional Visual Odometry for Wide-Baseline Wide-FOV Camera Systems #### 1751 Non-Parametric Error Modeling for Ultra-Wideband Localization Networks #### 1760 RCM-SLAM - Visual Localisation and Mapping under Remote Centre of Motion Constraints #### 1784 Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration #### 1808 CoLo - A Performance Evaluation System for Multi-Robot Cooperative Localization Algorithms #### 1827 Variational End-To-End Navigation and Localization #### 1870 SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding #### 1891 Real-Time Monocular Object-Model Aware Sparse SLAM #### 1937 Tightly-Coupled Aided Inertial Navigation with Point and Plane Features #### 1942 RaD-VIO - Rangefinder-aided Downward Visual-Inertial Odometry #### 1946 Beyond Point Clouds - Fisher Information Field for Active Visual Localization #### 1954 Deep Local Trajectory Replanning and Control for Robot Navigation #### 1977 FastDepth - Fast Monocular Depth Estimation on Embedded Systems #### 2006 Probabilistic Projective Association and Semantic Guided Relocalization for Dense Reconstruction #### 2009 Kinematic Constraints Based Bi-Directional RRT (KB-RRT) with Parameterized Trajectories for Robot Path Planning in Cluttered Environment #### 2044 MRS-VPR - A Multi-Resolution Sampling Based Visual Place Recognition Method #### 2045 Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-Denied Environments #### 2111 Keyframe-Based Direct Thermal Inertial Odometry #### 2139 Self-Supervised Sparse-To-Dense - Self-Supervised Depth Completion from LiDAR and Monocular Camera #### 2143 A Multi-Domain Feature Learning Method for Visual Place Recognition #### 2162 Real-Time Scalable Dense Surfel Mapping #### 2186 Global Vision-Based Reconstruction of Three-Dimensional Road Surfaces Using Adaptive Extended Kalman Filter #### 2207 An Autonomous Loop-Closure Approach for Simultaneous Exploration and Coverage of Unknown Infrastructure Using MAVs #### 2334 Probabilistic Appearance-Based Place Recognition Through Bag of Tracked Words #### 2335 Robust Pose-Graph SLAM Using Absolute Orientation Sensing #### 2354 Monocular Semantic Occupancy Grid Mapping with Convolutional Variational Encoder-Decoder Networks #### 2358 Sparse2Dense - From Direct Sparse Odometry to Dense 3D Reconstruction #### 2381 Local Descriptor for Robust Place Recognition Using LiDAR Intensity #### 2390 Decentralized Full Coverage of Unknown Areas by Multiple Robots with Limited Visibility Sensing #### 2394 Enhancing V-SLAM Keyframe Selection with an Efficient ConvNet for Semantic Analysis #### 2410 Loosely-Coupled Semi-Direct Monocular SLAM #### 2533 Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks #### 2540 On-Line 3D Active Pose-Graph SLAM Based on Key Poses Using Graph Topology and Sub-Maps #### 2545 Low-Latency Visual SLAM with Appearance-Enhanced Local Map Building #### 2552 Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles #### 2554 Iteratively Reweighted Midpoint Method for Fast Multiple View Triangulation #### 2559 Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms with Time Delay Estimation #### 2643 Efficient Autonomous Exploration Planning of Large Scale 3D-Environments #### 2645 Deep Reinforcement Learning Robot for Search and Rescue Applications - Exploration in Unknown Cluttered Environments #### 2685 Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems #### 2703 Geometric Relation Distribution for Place Recognition #### 2717 Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments #### 2873 Multi-Process Fusion - Visual Place Recognition Using Multiple Image Processing Methods #### 2877 Geo-Supervised Visual Depth Prediction #### 2886 Effective Visual Place Recognition Using Multi-Sequence Maps #### 2894 Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation #### 2897 On the Impact of Uncertainty for Path Planning #### 2901 Multi-Robot Motion Planning with Dynamics Via Coordinated Sampling-Based Expansion Guided by Multi-Agent Search #### 2911 Energy-Efficient Coverage Path Planning for General Terrain Surfaces #### 2943 VUNet - Dynamic Scene View Synthesis for Traversability Estimation Using an RGB Camera #### 2948 Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter #### 2985 1-Day Learning 1-Year Localization - Long-Term LiDAR Localization Using Scan Context Image #### 2992 Robust Global Structure from Motion Pipeline with Parallax on Manifold Bundle Adjustment and Initialization #### 3117 Learning Scene Geometry for Visual Localization in Challenging Conditions #### 3118 Geo-Supervised Visual Depth Prediction #### 3130 Search-Based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight under Sensor Visibility Constraints ### ------------ ICRA 2019 终止线 ---------- ### SLAM #### 86. 2019-06-13-[An Automatic Key-Frame Selection Method for Monocular Visual Odometry of Ground Vehicle](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8715357) #### 85. 2019-06-13-[ARM-VO: an efficient monocular visual odometry for ground vehicles on ARM CPUs](https://link.springer.com/article/10.1007/s00138-019-01037-5) ARM优化版本VO #### 84. 2019-06-13-[Large-Scale Outdoor SLAM Based on 2D Lidar](https://www.researchgate.net/publication/333521486_Large-Scale_Outdoor_SLAM_Based_on_2D_Lidar) #### 83. 2019-06-13-[Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue](https://arxiv.org/pdf/1906.01304.pdf) #### 82. 2019-06-13-[Partial Computing Offloading Assisted Cloud Point Registration in Multi-robot SLAM](https://arxiv.org/pdf/1905.12973.pdf)降低多机SLAM计算量 #### 81. 2019-06-13-[Stereo Visual Odometry Based on Motion Decoupling and Special Feature Screening for Navigation of Autonomous Vehicles](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8718624)远点近点分开利用 #### 80. 2019-06-13-[Extending Monocular Visual Odometry to Stereo Camera System by Scale Optimization](https://arxiv.org/pdf/1905.12723.pdf) 计算量小的伪双目 #### 79. 2019-06-10-[Extrinsic calibration of a single-point laser rangefinder and single camera](https://link.springer.com/article/10.1007/s11082-019-1907-8) 连同78,都是2D激光传感器与视觉传感器外参标定 #### 78. 2019-06-10-[A Simple Calibration Procedure for A 2D LiDAR with Respect to A Camera](https://ieeexplore.ieee.org/abstract/document/8710299) #### 77. 2019-06-10-[HeteroFusion: Dense Scene Reconstruction Integrating Multi-sensors](https://orca.cf.ac.uk/122866/1/HeteroFusion-Final.pdf) 融合多种传感器的三维重建 #### 76. 2019-06-05-[A Simultaneous Localization and Mapping (SLAM) Framework for 2.5D Map Building Based on Low-Cost LiDAR and Vision Fusion](https://www.researchgate.net/publication/333315015_A_Simultaneous_Localization_and_Mapping_SLAM_Framework_for_25D_Map_Building_Based_on_Low-Cost_LiDAR_and_Vision_Fusion) 激光与视觉融合SLAM #### 75. 2019-06-05-[eSLAM: An Energy-Efficient Accelerator for Real-Time ORB-SLAM on FPGA Platform](http://sci-hub.tw/10.1145/3316781.3317820) #### 74. 2019-05-28-[Robust simultaneous localization and mapping in low-light environment](https://onlinelibrary.wiley.com/doi/abs/10.1002/cav.1895) 提取两种特征点解决光照问题 #### 73. 2019-05-28-[An Extensive Approach to Features Detection and Description for 2D Range Data using Active B-splines](https://ieeexplore.ieee.org/abstract/document/8716503) #### 72. 2019-05-28-[Low-latency Visual SLAM with Appearance-Enhanced Local Map Building](https://arxiv.org/pdf/1905.07797.pdf) #### 71. 2019-05-28-[Characterizing SLAM Benchmarks and Methods for the Robust Perception Age](https://arxiv.org/pdf/1905.07808.pdf) #### 70. 2019-05-24-[RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots](https://www.researchgate.net/publication/333125503_RGBD-Inertial_Trajectory_Estimation_and_Mapping_for_Ground_Robots)RGBD+IMU,基于VINS_MONO #### 69. 2019-05-24-[A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM](https://www.mdpi.com/1424-8220/19/10/2230) 基于单目产生的有尺度漂移的地图,用激光定位,感觉没多大用 #### 68. 2019-05-24-[Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power](https://ieeexplore.ieee.org/abstract/document/8714921) 低功耗 VINS #### 67. 2019-05-24-[Explorations and Lessons Learned in Building an Autonomous FormulaSAEa Car from Simulations](https://arxiv.org/pdf/1905.05940.pdf)学生方程式赛车学习 #### 66. 2019-05-24-[Low-cost IMU Data Denoising using Savitzky-Golay Filters](https://ieeexplore.ieee.org/abstract/document/8713728)IMU数据降噪 #### 65. 2019-05-20-[AMZ Driverless: The Full Autonomous Racing System](https://arxiv.org/pdf/1905.05150.pdf) ETH赛车 #### 64. 2019-05-20-[ROS-based localization of a race vehicle at high-speed using LIDAR](https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/21/e3sconf_icpeme2018_04002.pdf)TUM赛车 #### 63. 2019-05-20-[An Open Source and Open Hardware Deep Learning-powered Visual Navigation Engine for Autonomous Nano-UAVs](https://arxiv.org/pdf/1905.04166.pdf)ETH最小无人机自动导航 #### 62. 2019-05-20-[DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration](https://arxiv.org/pdf/1905.04153.pdf)百度无人车团队DeepICP #### 61. 2019-05-20-[3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM](http://act.usc.edu/publications/Boroson_ICRA2019.pdf)南加州大学基于3D点云的特征点 #### 60. 2019-05-14-[Monocular Semidirect Visual Odometry for Large-scale Outdoor Localization](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8703146) #### 59. 2019-05-14-[CREAK descriptor evaluation for visual odometry](http://sci-hub.tw/https://ieeexplore.ieee.org/document/8704807) CREAK 描述子测试 #### 58. 2019-05-05-[Humanoid Robot Dense RGB-D SLAM for Embedded Devices*](https://www.researchgate.net/profile/Stylianos_Piperakis3/publication/332686387_Humanoid_Robot_Dense_RGB-D_SLAM_for_Embedded_Devices/links/5cc341654585156cd7b4518e/Humanoid-Robot-Dense-RGB-D-SLAM-for-Embedded-Devices.pdf) 使用RGBD+IMU+Encoder做Nao机器人状态估计 #### 57. 2019-04-29-[Structure Aware SLAM using Quadrics and Planes](https://www.researchgate.net/profile/Yasir_Latif/publication/324745171_Towards_Semantic_SLAM_Points_Planes_and_Objects/links/5caaa871a6fdcca26d065630/Towards-Semantic-SLAM-Points-Planes-and-Objects.pdf) #### 56. 2019-04-29-[VITAMIN-E: VIsual Tracking And MappINg with Extremely Dense Feature Points](https://arxiv.org/pdf/1904.10324.pdf) 很鲁棒的单目三维重建 #### 55. 2019-04-26-[Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?](https://arxiv.org/pdf/1904.07967.pdf) 关于回环检测的综述 #### 54. 2019-04-23-[An Improved Hector SLAM Algorithm based on Information Fusion for Mobile Robot](https://ieeexplore.ieee.org/abstract/document/8691198) #### 53. 2019-04-23-[Robust RGB-D Visual Odometry Based on the Line Intersection Structure Feature in Low-Textured Scenes](https://ieeexplore.ieee.org/abstract/document/8691213) #### 52. 2019-04-23-[Object Recognition and Simultaneous Indoor Localization Algorithm with Stereo Camera](https://ieeexplore.ieee.org/abstract/document/8691211) #### 51. 2019-04-23-[Learning Whole-Image Descriptors for Real-time Loop Detection and Kidnap Recovery under Large Viewpoint Difference](https://arxiv.org/pdf/1904.06962.pdf) 港科大弱监督(NetVLAD)下的重定位恢复 #### 50. 2019-04-23-[Visual-Inertial Mapping with Non-Linear Factor Recovery](https://arxiv.org/pdf/1904.06504.pdf) #### 49. 2019-04-23-[Direct Sparse Mapping](https://arxiv.org/pdf/1904.06577.pdf) 带有回环检测的稀疏直接法 #### 48. 2019-04-23-[Gyroscope-aided Relative Pose Estimation for Rolling Shutter Cameras](https://arxiv.org/pdf/1904.06770.pdf) 使用IMU解决卷帘快门图像问题 #### 47. 2019-04-17-[Adaptive SLAM with synthetic stereo dataset generation for real-time dense 3D reconstruction](https://hal.archives-ouvertes.fr/hal-02086843/document)提出在直线行走时降低图像帧率,节省计算资源以及减少误差 #### 46. 2019-04-17-[Robust Legged Robot State Estimation Using Factor Graph Optimization](https://arxiv.org/pdf/1904.03048.pdf) Anymal 四足机器人定位算法 #### 45. 2019-04-11-[Stereo camera visual odometry for moving urban environments](https://content.iospress.com/articles/integrated-computer-aided-engineering/ica190598) #### 44. 2019-04-11-[Online IMU Self-Calibration for Visual-Inertial Systems](https://www.mdpi.com/1424-8220/19/7/1624) #### 43. 2019-04-02-[KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking](https://www.imperial.ac.uk/media/imperial-college/research-centres-and-groups/dyson-robotics-lab/chouseago_etal_icra2019.pdf)Dyson 和 Imprial college 研发的RGBD融合底盘dense slam #### 42. 2019-04-02-[SlamCraft: Dense Planar RGB Monocular SLAM](https://www.researchgate.net/publication/331832804_SlamCraft_Dense_Planar_RGB_Monocular_SLAM) #### 41. 2019-03-29-[Learning 3D Semantic Reconstruction on Octrees](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/332863/1/Wang_Xiaojuan.pdf)ETH wang xiaojuan三维语义重建硕士论文 #### 40. 2019-03-29-[An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM](https://arxiv.org/pdf/1903.08636.pdf) #### 39. 2019-03-29-[Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions](https://arxiv.org/pdf/1903.09107.pdf)关于回环检测的综述 #### 38. 2019-03-29-[Wheelchair robot navigation in different weather conditions using deep learning and evolved neural controller](https://www.emeraldinsight.com/doi/abs/10.1108/IR-08-2018-0176) #### 37. 2019-03-29-[Pragma-Oriented Parallelization of the Direct Sparse Odometry SLAM Algorithm](https://ieeexplore.ieee.org/abstract/document/8671561) #### 36. 2019-03-25-[FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM](https://www.researchgate.net/publication/281217090_Stereo_Parallel_Tracking_and_Mapping_for_robot_localization) #### 35. 2019-03-21-[Spatiotemporal Decoupling Based LiDARCamera Calibration under Arbitrary Configurations](https://arxiv.org/pdf/1903.06141.pdf) #### 34. 2019-03-21-[An Accurate Localization Scheme for Mobile Robots Using Optical Flow in Dynamic Environments](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8664893/) #### 33. 2019-03-16-[2-Entity RANSAC for robust visual localization in changing environment](https://arxiv.org/pdf/1903.03967.pdf) #### 32. 2019-03-16-[A Unified Formulation for Visual Odometry](https://arxiv.org/pdf/1903.04253.pdf) 综合直接法和间接法 #### 31. 2019-03-13-[Nonparametric Statistical and Clustering Based RGB-D Dense Visual Odometry in a Dynamic Environment](https://sci-hub.tw/https://link.springer.com/article/10.1007/s13319-019-0220-4)多帧残差模型处理动态物体 #### 30. 2019-03-13-[3D Reconstruction and Texture Optimization Using a Sparse Set of RGB-D Cameras](https://sci-hub.tw/https://ieeexplore.ieee.org/abstract/document/8658571/) #### 29. 2019-03-13-[EGO-SLAM: A Robust Monocular SLAM for Egocentric Videos](https://www.cse.iitd.ac.in/~chetan/papers/wacv19-egoslam.pdf) #### 28. 2019-03-11-[Real-Time Visual Odometry Covariance Estimation or Unmanned Air Vehicle Navigation](https://arc.aiaa.org/doi/pdfplus/10.2514/1.G004000) #### 27. 2019-03-11-[Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry](https://arxiv.org/pdf/1903.00912.pdf)单目估计尺度 #### 26. 2019-03-11-[Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities](https://www.mit.edu/~arosinol/research/struct3dmesh.html)出自MIT，在VIO中根据三角剖分加入结构化特征 #### 25. 2019-03-08-[ROVO: Robust Omnidirectional Visual Odometry for Wide-baseline Wide-FOV Camera Systems](https://arxiv.org/pdf/1902.11154.pdf)多目鱼眼SLAM #### 24. 2019-03-08-[Robust RGB-D Odometry under Depth Uncertainty for Structured Environments](https://search.proquest.com/openview/d9b6a8efb6fd8075cfe7aeed663085c7/1?pq-origsite=gscholar&cbl=2026366&diss=y) 博士论文处理RGBD深度误差 #### 23. 2019-03-08-[Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping](https://arxiv.org/pdf/1902.10741.pdf)激光在山洞容易失效，双目可以增强某些场景 #### 22. 2019-03-08-[Double-Layer Cubature Kalman Filter for Nonlinear Estimation](https://sci-hub.tw/https://www.mdpi.com/1424-8220/19/5/986) #### 21. 2019-03-08-[A Vertex-to-Edge Weighted Closed-Form Method for Dense RGB-D Indoor SLAM ](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8649628) #### 20. 2019-02-28-[Vision Sensor Aided Navigation for Ground Vehicle Applications](https://sci-hub.tw/https://prism.ucalgary.ca/handle/1880/109478) Liu Zhenbo 博士毕业论文讲的很仔细 #### 19. 2019-02-28-[GSLAM: A General SLAM Framework and Benchmark](https://arxiv.org/pdf/1902.07995.pdf) 兼容多种框架的框架。。。 #### 18. 2019-02-26-[A lightweight and scalable visual‑inertial motion capture system using fducial markers](https://sci-hub.tw/10.1007/s10514-019-09834-7)二维码加IMU #### 17. 2019-02-21-[Robust 3D Indoor Map Building via RGB-D SLAM with Adaptive IMU Fusion on Robot](https://www.mdpi.com/1424-8220/16/10/1589/pdf) 简单直接的融合方式 #### 16. 2019-02-18-[UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers](https://arxiv.org/pdf/1902.03729.pdf)融合视觉与二维码标签SLAM，[代码](https://sourceforge.net/projects/ucoslam/) #### 15. 2019-02-14-[Visual SLAM: Why Bundle Adjust?](https://arxiv.org/pdf/1902.03747.pdf)Ian Reid的改进版BA #### 14. 2019-02-14-[A real-time visual-inertial mapping and localization method by fusing unstable GPS](https://ieeexplore.ieee.org/abstract/document/8630513) 根据GPS信号可信度调整优化方法 #### 13. 2019-02-14-[Comparison and Analysis of Feature Method and Direct Method in Visual SLAM Technology for Social Robots](https://ieeexplore.ieee.org/abstract/document/8630714)对比直接法与特征点法 #### 12. 2019-01-30-[Multi-objective Mapping and Path Planning using Visual SLAM and Object Detection](https://uwspace.uwaterloo.ca/bitstream/handle/10012/14386/Woo_Ami.pdf?sequence=3&isAllowed=y) 一篇硕士论文 #### 11. 2019-01-30-[Extrinsic Calibration of Lidar and Camera with Polygon](https://ram-lab.com/papers/2018/liao_robio2018.pdf) 利用已知多边形板子获得激光与视觉传感器外参，出自港科大刘明老师 #### 10. 2019-01-30-[Robust Photogeometric Localization over Time for Map-Centric Loop Closure](https://arxiv.org/pdf/1901.07660.pdf)解决map-centric slam回环问题 #### 9. 2019-01-25-[A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns](https://www.mdpi.com/1424-8220/19/2/349/htm) 多个RGBD相机外参标定 #### 8. 2019-01-25-[SLAM of Robot based on the Fusion of Vision and LIDAR](https://sci-hub.tw/10.1109/cbs.2018.8612212)RGBD 与lidar 融合，好像只是处理逻辑关系判断，没有深度融合 #### 7. 2019-01-25-[ADAPTIVE FILTERING FOR VISION-AIDED INERTIAL NAVIGATION](https://smartech.gatech.edu/bitstream/handle/1853/60806/LEE-DISSERTATION-2018.pdf?sequence=1&isAllowed=y) 佐治亚理工博士论文，关于自适应卡尔曼滤波 #### 6. 2019-01-25-[Loosely-Coupled Semi-Direct Monocular SLAM](https://arxiv.org/pdf/1807.10073.pdf) Javier Civera 直接法和特征法融合，也是我现在工作比较感兴趣的一个方向 #### 5. 2019-01-25-[Visual-Inertial SLAM Initialization: A General Linear Formulation and a Gravity-Observing Non-Linear Optimization](https://sci-hub.tw/10.1109/ismar.2018.00027) Javier Civera 关于视觉惯导初始化问题的研究 #### 4. 2019-01-11-[SDVL: Efficient and Accurate Semi-Direct Visual Localization](https://www.researchgate.net/publication/330379725_SDVL_Efficient_and_Accurate_Semi-Direct_Visual_Localization) 直接法与特征点法混合 #### 3. 2019-01-11-[A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors](https://arxiv.org/pdf/1901.03638.pdf) 双目VINS #### 2. 2019-01-11-[A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors](https://arxiv.org/pdf/1901.03642.pdf) 港科大多传感器融合 #### 1. 2019-01-09-[Factor Graphs for Flexible Inference in Robotics and Vision](https://smartech.gatech.edu/handle/1853/60646) Dellaert, Frank视频详解因子图，他也是牛逼的SKYDIO 的开发者之一 ### Deep SLAM #### 22. 2019-05-09-[EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association](https://arxiv.org/pdf/1904.11781.pdf)处理动态物体三维重建 #### 21. 2019-05-09[GN-Net: The Gauss-Newton Loss for Deep Direct SLAM](https://arxiv.org/pdf/1904.11932.pdf)Daniel Cremers 所作,在帧间tracking时replace the image I with a feature map computed by a deep neural network. #### 20. 2019-04-26-[Deep Sensor Fusion between 2D Laser Scanner and IMU for Mobile Robot Localization](https://ieeexplore.ieee.org/abstract/document/8689068) #### 19. 2019-04-26-[LO-Net: Deep Real-time Lidar Odometry](https://arxiv.org/pdf/1904.08242.pdf) #### 18. 2019-04-23-[AI-IMU Dead-Reckoning](https://arxiv.org/pdf/1904.06064.pdf)只利用IMU做航迹推算,使用了卡尔曼滤波和神经网络 #### 17. 2019-04-23-[Localizing Discriminative Visual Landmarks for Place Recognition](https://arxiv.org/pdf/1904.06635.pdf)回环检测 #### 16. 2019-04-23-[Recurrent Neural Network for (Un-)supervised Learning of Monocular Video Visual Odometry and Depth](https://arxiv.org/pdf/1904.07087.pdf) #### 15. 2019-04-19-[Semantic Nearest Neighbor Fields for Monocular Edge Visual-Odometry](https://arxiv.org/pdf/1904.00738.pdf)带有语义信息的几何边融入到VO中 #### 14. 2019-04-17-[VISUAL LOCALIZATION USING SPARSE SEMANTIC 3D MAP](https://arxiv.org/pdf/1904.03803.pdf) #### 13. 2019-04-17-[Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization](https://www.researchgate.net/profile/Abhinav_Valada/publication/331247138_Discovering_and_leveraging_deep_multimodal_structure_for_reliable_robot_perception_and_localization/links/5c7d5679299bf1268d3903d5/Discovering-and-leveraging-deep-multimodal-structure-for-reliable-robot-perception-and-localization.pdf) Wolfram Burgard 学生博士论文,主要讲述分割网络以及在SLAM中的应用 #### 12. 2019-04-11-[Beyond Tracking:Selecting Memory and Refining Poses for Deep Visual Odometry](https://arxiv.org/pdf/1904.01892.pdf) 商汤北大合作 #### 11. 2019-04-02-[Unsupervised Learning of Accurate Camera Pose and Depth From Video Sequences With Kalman Filter](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8666111) #### 10. 2019-03-25-[Pose Graph Optimization for Unsupervised Monocular Visual Odometry](https://arxiv.org/pdf/1903.06315.pdf) #### 9. 2019-03-16-[Sparse Representations for Object and Ego-motion Estimation in Dynamic Scenes](https://arxiv.org/pdf/1903.03731.pdf) #### 8. 2019-03-08-[DeepLO: Geometry-Aware Deep LiDAR Odometry](https://arxiv.org/pdf/1902.10562.pdf)基于深度学习的三维激光SLAM #### 7. 2019-03-08-[A Generative Map for Image-based Camera Localization](https://arxiv.org/pdf/1902.11124.pdf) #### 6. 2019-03-08-[GCNv2: Efficient Correspondence Prediction for Real-Time SLAM](https://arxiv.org/pdf/1902.11046.pdf) 网络生成ORB特征点，融合ORBSLAM里面去。[code](https://github.com/jiexiong2016/GCNv2_SLAM) #### 5. 2019-02-15-[Semantic and 3D Understanding of a Scene for Robot Perception](https://sci-hub.tw/http://search.proquest.com/openview/3a5804693015d4d0b42f1e4089a02267/1?pq-origsite=gscholar&cbl=18750&diss=y) 硕士论文 #### 4. 2019-02-14-[VUNet: Dynamic Scene View Synthesis for Traversability Estimation using an RGB Camera](https://ieeexplore.ieee.org/document/8624332)估计机器人未来可通行区域 #### 3. 2019-02-13-[GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping](https://arxiv.org/pdf/1902.02086.pdf) #### 2. 2019-01-25-[Towards Building the Semantic Map from a Monocular Camera with a Multi-task Network](https://arxiv.org/pdf/1901.05807.pdf) 中山大学通过多任务CNN生成单目深度图与并分割，重建出有语义信息的地图 #### 1. 2019-01-22-[DF-SLAM: A Deep-Learning Enhanced Visual SLAM System based on Deep Local Features](https://arxiv.org/pdf/1901.07223.pdf) ### 3D Reconstruction #### 8. 2019-06-13-[DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions](https://www.imperial.ac.uk/media/imperial-college/research-centres-and-groups/dyson-robotics-lab/tlaidlow_etal_icra2019.pdf) #### 7. 2019-05-14-[ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals](https://arxiv.org/pdf/1905.02082.pdf) #### 6. 2019-04-02-[TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo](https://arxiv.org/pdf/1903.10929.pdf) #### 5. 2019-03-25-[Robust and affordable localization and mapping for 3D reconstruction. Application to architecture and construction](http://uvadoc.uva.es/bitstream/10324/35078/1/Tesis1482-190314.pdf) #### 4. 2019-02-18-[Improving 3D reconstruction via RGB-D camera registration and shading-based surface refinement]南阳理工邓腾博士论文 #### 3. 2019-02-13-[Comparative analysis of properties of LiDAR-based point clouds versus camerabased point clouds for 3D reconstruction using SLAM algorithms](http://scholar.google.com/scholar_url?url=https://www.doria.fi/bitstream/handle/10024/167410/bistrom_benjamin.pdf%3Fsequence%3D2&hl=de&sa=X&d=12452230042616813822&scisig=AAGBfm38puu_H5N8Tp62YkqQwuvZUVNXOw&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:13453396895897446987:AAGBfm2VmZLsOGwX0LAQ1scLkl9E22zpBQ)激光点云与RGBD点云对比 #### 2. 2019-01-12-[Real-time Monocular Dense Mapping of Small Scenes with ORB Features](https://sci-hub.tw/https://ieeexplore.ieee.org/document/8610747) 单目ORB SLAM重建 #### 1. 2019-01-12-[NRMVS: Non-Rigid Multi-View Stereo](https://arxiv.org/pdf/1901.03910.pdf) 根据不同视角RGB图像对变形物体三维重建 ### Auto driving #### 10. 2019-05-14-[Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph](http://sci-hub.tw/10.1007/978-981-13-7751-8_36) 优于LOAM的3D laser SLAM #### 9. 2019-05-09-[Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences](https://arxiv.org/pdf/1904.12433.pdf) 标定相机与三维激光雷达 #### 8. 2019-05-09-[A Novel Dual-Lidar Calibration Algorithm Using Planar Surfaces](https://arxiv.org/pdf/1904.12116.pdf) 标定双激光雷达 #### 7. 2019-05-09-[DeLiO: Decoupled LiDAR Odometry](https://arxiv.org/pdf/1904.12667.pdf) 把旋转和平移分开求解 #### 6. 2019-04-23-[Tightly Coupled 3D Lidar Inertial Odometry and Mapping](https://arxiv.org/pdf/1904.06993.pdf)港科大lidar融合IMU建图 #### 5. 2019-03-13-[Lidar-Monocular Visual Odometry with Genetic Algorithm for Parameter Optimization](https://arxiv.org/pdf/1903.02046.pdf)在线实时优化参数 #### 4. 2019-03-13-[An Interactive LiDAR to Camera Calibration](https://arxiv.org/pdf/1903.02122.pdf) 雷达相机外参标定 #### 3. 2019-03-13-[A Fuzzy-Innovation-Based Adaptive Kalman Filter for Enhanced Vehicle Positioning in Dense Urban Environments](file:///home/eason/Downloads/sensors-19-01142-v2.pdf) #### 2. 2019-01-25-[Sensor fusion for localization of automated vehicles](https://d-nb.info/1173898506/34) 德国Bonn大学自动驾驶多传感器融合博士论文 #### 1. 2019-01-24-[Self-Driving Cars: A Survey](https://arxiv.org/pdf/1901.04407.pdf) ### Path Planning #### 12. 2019-04-29-[Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps](https://www.researchgate.net/profile/Weiming_Zhi/publication/332550322_Continuous_Occupancy_Map_Fusion_with_Fast_Bayesian_Hilbert_Maps/links/5cbc7fc1299bf12097765677/Continuous-Occupancy-Map-Fusion-with-Fast-Bayesian-Hilbert-Maps.pdf) #### 11. 2019-04-26-[Deep Local Trajectory Replanning and Control for Robot Navigation](http://iliad.stanford.edu/pdfs/publications/pokle2019deep.pdf) #### 10. 2019-04-23-[A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots](https://journals.sagepub.com/doi/full/10.1177/0020294019836127) #### 9. 2019-04-19-[Confidence random tree-based algorithm for mobile robot path planning considering the path length and safety](http://scholar.google.com.hk/scholar_url?url=https://journals.sagepub.com/doi/pdf/10.1177/1729881419838179&hl=zh-CN&sa=X&d=10415875195647299755&scisig=AAGBfm2HyeooIJxniSvIoXqUnJVBbOgqrg&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:13322782094633563195:AAGBfm3BsU2dft4hdsGEGWT6jrVBOBGCUA) #### 8. 2019-04-19-[Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design](https://arxiv.org/pdf/1904.05728.pdf)更激进且安全的路径规划 #### 7. 2019-04-15-[Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments](https://arxiv.org/pdf/1904.03421.pdf) #### 6. 2019-03-08-[Autonomous Robotic Exploration by Incremental Road Map Construction](http://eeyxsun.people.ust.hk/docs/TASE2019_autonomous.pdf)港中文港科大合作出品 #### 5. 2019-02-18-[Efficient Autonomous Exploration Planning of Large Scale 3D-Environments](https://www.ida.liu.se/divisions/aiics/publications/RAL-2019-Efficient-Autonomous-Exploration.pdf). Frontier Exploration planning (FEP) 与 Receding Horizon Next-Best-View planning (RH-NBVP)方法融合做自主探索 #### 4. 2019-02-15-[Motion Planning for Micro Aerial Vehicles](https://sci-hub.tw/http://search.proquest.com/openview/3ddcfedc312ef40732797bfbc416ed59/1?pq-origsite=gscholar&cbl=18750&diss=y)宾大liu sikang博士论文，导师Kumar #### 3. 2019-02-14-[A Novel GRU-RNN Network Model for Dynamic Path Planning of Mobile Robot](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8625490) 全名Gated Recurrent Unit-Recurrent Neural Network (GRU-RNN) #### 2. 2019-02-13-[Improving the Hybrid A* method for a non-holonomic wheeled robot](https://journals.sagepub.com/doi/full/10.1177/1729881419826857)增强混合A星算法 #### 1. 2019-01-25-[Planning Algorithms for Multi-Robot Active Perception](http://scholar.google.com/scholar_url?url=https://ses.library.usyd.edu.au/bitstream/2123/19781/3/Graeme%2520Best%2520thesis.pdf&hl=zh-CN&sa=X&d=8591620865467554452&scisig=AAGBfm3-S44J8_MVtxhXZOgRqUDfvDig7g&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:7683124594916984709:AAGBfm07xRT6Xkv3-NQLydsk2iShtnUYcA) 悉尼大学多机器人主动感知路径规划 ### Others. #### 9. 2019-04-29-[MapperBot / iSCAN: Open-Source Integrated Robotic Platform and Algorithm for 2D Mapping](https://www.researchgate.net/profile/Akram_Al-Hourani/publication/332413257_MapperBot_iSCAN_Open-Source_Integrated_Robotic_Platform_and_Algorithm_for_2D_Mapping/links/5cb3fc5a4585156cd7992888/MapperBot-iSCAN-Open-Source-Integrated-Robotic-Platform-and-Algorithm-for-2D-Mapping.pdf) #### 8. 2019-04-29-[Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation*](https://arxiv.org/pdf/1904.09251.pdf) #### 7. 2019-04-19-[An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Mapping](https://www.mdpi.com/1424-8220/19/7/1742/pdf) #### 6. 2019-03-25-[Distributed Kalman-filtering: Distributed optimization viewpoint](https://arxiv.org/pdf/1903.07807.pdf) #### 5. 2018-03-08-[UCSD ECE276A: Sensing & Estimation in Robotics (Winter 2019)](https://natanaso.github.io/ece276a/schedule.html) UC 圣地亚哥大学机器人感知运动估计课程 #### 4. 2018-02-25-[Robust Harris Detector Corresponding and Calculates the Projection Error Using the Modification of the Weighting Function](http://www.ijmlc.org/vol9/766-M025.pdf)多层权重函数增强本质矩阵计算准确度 #### 3. 2019-02-25-[MC2SLAM: Real-Time Inertial Lidar Odometry Using Two-Scan Motion Compensation](https://sci-hub.tw/10.1007/978-3-030-12939-2_5) 激光IMU紧耦合方案，声称KITTI数据集top5，且放出了数据集。 #### 2. 2019-02-18-[GPS/LiDAR Sensor Fusion Integrity: A Top-Down Approach](http://gracegao.ae.illinois.edu/publications/journal/2018_Navigation_GPSLidar%20integrity_Ashwin%20Kanhere.pdf) GPS 激光融合 #### 1. 2019-01-25-[Ultra-wideband-based Navigation for Unmanned Aerial Vehicles](http://scholar.google.com.hk/scholar_url?url=https://dr.ntu.edu.sg/bitstream/handle/10220/47471/THESIS_GUO%2520KEXIN_G1400180L.pdf%3Fsequence%3D1&hl=zh-CN&sa=X&d=7665655280644322246&scisig=AAGBfm0njtXltv-cbMLcxfW5K85Ixk-XSg&nossl=1&oi=scholaralrt&hist=3Pwx2kMAAAAJ:8091854961068759592:AAGBfm2trGFRZKGhbBitzOqs-u-1ftqAhA) 南洋理工UWB定位博士论文