Autonomous Navigation1. 0207 Hierarchical Object Map Estimation for Efficient and Robust Navigation2. 0504 Learning Robust Driving Policies without Online Exploration3. 0571 Perceive Attend and Drive Learning Spatial Attention for Safe Self-Driving4. 0629 Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Confict Driving Scenarios5. 0716 FlowDriveNet An End-to-End Network for Learning Driving Policies from Image Optical Flow and LiDAR Point Flow6. 1001 A Self-Supervised Near-to-Far Approach for Terrain-Adaptive Off-Road Autonomous Driving7.1686 Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways8. 1976 Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement9. 2051 Encoding Defensive Driving As a Dynamic Nash Game10. 2106 Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal11. 3181 Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human12. 3294 Comfortable and Safe Decelerations for a Self-Driving Transit Bus13. 3439 IDE-Net Interactive Driving Event and Pattern Extraction from Human Data14. 3466 Imitation Learning of Hierarchical Driving Model From Continuous Intention to Continuous Trajectory15. 3515 Incorporating Multi-Context into the Traversability Map for Urban Autonomous Driving Using Deep Inverse Reinforcement Learning16. 3518 Cross-Modal Contrastive Learning of Representations for Navigation Using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions17. 3988 A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift18. 4001 Where to Go Next Learning a Subgoal Recommendation Policy for Navigation among Pedestrians19. 4002 Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria20. 4174 Learning Barrier Functions with Memory for Robust Safe Navigation
02
Planning1.0050 Lane-free Autonomous Intersection Management A Batch-processing Framework Integrating Reservation-based and Planning-based Methods2.0283 Beelines Motion Prediction Metrics for Self-Driving Safety and Comfort3. 0389 Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios4.0450 Shared Autonomy for Teleoperated Driving A Real-Time Interactive Path Planning Approach5. 0658 An On-Line POMDP Solver for Continuous Observation Spaces6.0879 Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation7. 0947 Autonomous Vehicle Motion Planning via Recurrent Spline Optimization8. 1472 Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation9. 1653 What Data Do We Need for Training an AV Motion Planner10. 2030 A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning11.2303 Prediction-Based Reachability for Collision Avoidance in Autonomous Driving12. 2533 Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments13. 2674 Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation14. 3259 Pheromone-Diffusion-Based Conscientious Reactive Path Planning for Road Network Persistent Surveillance15. 3613 A Spatial Searching Method for Planning under Time Dependent Constraints for Eco-Driving in signalized Traffic Intersection16.3855 Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles
03
Localization and Mapping1. 0279 Range Image-based LiDAR Localization for Autonomous Vehicles2. 0453 Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles3.0510 Probabilistic Terrain Estimation for Autonomous Off-Road Driving4. 0766 Unsupervised Motion Estimation of Vehicles Using ICP5. 0888 Simple But Effective Redundant Odometry for Autonomous Vehicles6. 1076 Visual Semantic Localization based on HD Map for Autonomous Vehicles in Urban Scenarios7. 1189 Lightweight Semantic Mesh Mapping for Autonomous Vehicles8. 1556 Robust SRIF-based LiDAR-IMU Localization for Autonomous Vehicles9. 1559 Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning10.2188 IMUVehicle Calibration and Integrated Localization for Autonomous Driving11. 2543 RoadMap A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving12. 3383 HD Map Update for Autonomous Driving With Crowdsourced Data13. 3746 Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets
04
Perception1. 0112 PointMoSeg Sparse Tensor-Based End-To-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving2. 0454 Task-Driven Deep Image Enhancement Network for Autonomous Driving in Bad Weather3. 0618 Uncertainty-Aware Fast Curb Detection Using Convolutional Networks in Point Clouds4. 0865 Development of a Perception System for an Autonomous Surface Vehicle using Monocular Camera LiDAR and Marine RADAR5. 3006 ICurb Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving6. 3094 Ground-Aware Monocular 3D Object Detection for Autonomous Driving7. 3424 OmniDet Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving
05
Tracking1. 1770 Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving2. 2346 3D Multi-Object Tracking Using Random Finite Set-Based Multiple Measurement Models Filtering for Autonomous Vehicles
06
Prediction1. 0515 Interpretable Goal-based Prediction and Planning for Autonomous Driving2. 0578 Open-set Intersection Intention Prediction for Autonomous Driving3. 2450 Multimodal dynamics modeling for off-road autonomous
07
Control1. 2450 Multimodal dynamics modeling for off-road autonomous vehicles2. 0525 Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances3. 2364 Probabilistic Safety Assured Adaptive Merging Control for Autonomous Vehicles
08
Calibration1. 3849 Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications
09
Dataset1. 3220 DSEC A Stereo Event Camera Dataset for Driving Scenarios
10
Simulation1. 0874 World-in-the-Loop Simulation for Autonomous Systems Validation2. 1389 SimNet Learning Reactive Self-Driving Simulations from Real-World Observations
11
System & Platform1. 0277 The Effect of Input Signals Time-Delay on Stabilizing Traffic with Autonomous Vehicles2. 0395 SMT-Based Optimal Deployment of Mobile Robot Rechargers3. 0395 SMT-Based Optimal Deployment of Mobile Robot Rechargers4. 2641 Pylot A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles5. 4176 Toward Autonomous Driving by Musculoskeletal Humanoids A Study of Developed Hardware and Learning-Based Software
12
SLAM语义定位建图：1. Visual Semantic Localization Based on HD Map for Autonomous Vehicles in Urban Scenarios2.RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving3.Road Mapping and Localization Using Sparse Semantic Visual Features https://ieeexplore.ieee.org/document/93870914.Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping https://arxiv.org/abs/2011.040875.Semantic SLAM with Autonomous Object-Level Data Association https://arxiv.org/abs/2011.106256. Hybrid Bird's-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking (AVP) https://www.zhenzhenxiang.xyz/publication/icra2021/7.Compositional and Scalable Object SLAM https://arxiv.org/abs/2011.026588. Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model9. Semantically Guided Multi-View Stereo for Dense 3D Road Mapping10. Robust Improvement in 3D Object Landmark Inference for Semantic Mapping11. 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/936113012.PSF-LO: Parameterized Semantic Features Based Lidar Odometry https://arxiv.org/abs/2010.1335513. Point Set Registration with Semantic Region Association Using Cascaded Expectation Maximization Visual SLAM1. Asynchronous Multi-View SLAM https://arxiv.org/abs/2101.065622. B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles3. UPSLAM: Union of Panoramas SLAM https://arxiv.org/abs/2101.005854. Multi-Parameter Optimization for a Robust RGB-D SLAM System5. SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes https://arxiv.org/abs/2010.094096. MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos https://arxiv.org/abs/2012.053607. ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames https://arxiv.org/abs/2103.150688. Markov Parallel Tracking and Mapping for Probabilistic SLAM9. Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features https://arxiv.org/abs/2103.0150110. Learning a State Representation and Navigation in Cluttered and Dynamic Environments https://arxiv.org/pdf/2103.0435111.TT-SLAM: Dense Monocular SLAM for Planar Environments https://hal.inria.fr/hal-03169199/12. OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications https://arxiv.org/abs/2102.0406013.DOT: Dynamic Object Tracking for Visual SLAM https://arxiv.org/abs/2010.0005214.DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences (I) https://arxiv.org/abs/1908.0891815.RGB-D SLAM with Structural Regularities https://arxiv.org/abs/2010.0799716. RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects17. CAROM - Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures https://arxiv.org/abs/2104.0089318. VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough https://arxiv.org/abs/2104.0680019.Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping https://arxiv.org/abs/2011.04087
VO:1. Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry https://arxiv.org/abs/2101.059952.Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment3.Deep Online Correction for Monocular Visual Odometry https://arxiv.org/abs/2103.100294.A Heteroscedastic Likelihood Model for Two-Frame Optical Flow https://arxiv.org/abs/2010.068715. Learning Optical Flow with R-CNN for Visual Odometry6. Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation https://ieeexplore.ieee.org/abstract/document/9361135/7. Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry https://arxiv.org/abs/2102.011918.Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images https://hal.archives-ouvertes.fr/hal-03130945/document9. A Front-End for Dense Monocular SLAM Using a Learned Outlier Mask Prior
Visual Mapping:1. Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation2. Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping https://arxiv.org/pdf/2102.08145.pdf / https://github.com/ethz-asl/Hough2Map3. Lightweight Semantic Mesh Mapping for Autonomous Vehicles4. Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior https://arxiv.org/abs/2102.052125. Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning https://arxiv.org/abs/2101.018446.Direct Sparse Mapping (I)https://arxiv.org/abs/1904.06577 / https://github.com/jzubizarreta/dsm7.HyperMap: Compressed 3D Map for Monocular Camera Registration https://www.cs.cmu.edu/~kaess/pub/Chang21icra.pdf8. Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking https://arxiv.org/abs/2103.109689. Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments https://arxiv.org/abs/2103.16095VIO：1. UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments2. Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization https://ieeexplore.ieee.org/abstract/document/93501553. CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth https://arxiv.org/abs/2012.101334. Direct Sparse Stereo Visual-Inertial Global Odometry5. Collaborative Visual Inertial SLAM for Multiple Smart Phones6. VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation https://arxiv.org/abs/2011.039937. Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle https://arxiv.org/abs/2103.016558. Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM https://arxiv.org/abs/2002.001959. Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements https://arxiv.org/abs/2010.1167510.An Equivariant Filter for Visual Inertial Odometry https://arxiv.org/abs/2104.0353211. Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization https://arxiv.org/abs/2006.0601712.Cooperative Visual-Inertial Odometry https://hal.inria.fr/hal-02427991/document
Tracking:1.Tracking 6-DoF Object Motion from Events and Frames https://arxiv.org/abs/2103.155682.Visual Tracking of Deforming Objects Using Physics-Based Models https://hal.inria.fr/hal-03179253/document3.Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping https://arxiv.org/abs/2103.054014.TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction
深度：1. Robust Monocular Visual-Inertial Depth Completion for Embedded Systems http://udel.edu/~pgeneva/downloads/papers/c19.pdf2. Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation https://arxiv.org/abs/2103.024513.SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments https://arxiv.org/abs/2011.049774. Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image5.PENet: Towards Precise and Efficient Image Guided Depth Completion https://arxiv.org/abs/2103.00783 / https://github.com/JUGGHM/PENet_ICRA20216.Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation https://arxiv.org/abs/2103.129647.PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation https://arxiv.org/abs/2006.020688.Bidirectional Attention Network for Monocular Depth Estimation https://arxiv.org/abs/2009.007439.Self-Guided Instance-Aware Network for Depth Completion and Enhancement10.Deep Multi-View Depth Estimation with Predicted Uncertainty https://arxiv.org/abs/2011.0959411.MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation Using Incremental Viewpoint-Compensated Feature Extraction12.Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion13.Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation
视觉场景识别：1. Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion https://arxiv.org/abs/2010.092282. Appearance-Based Loop Closure Detection Via Bidirectional Manifold Representation Consensus3. SoftMP: Attentive Feature Pooling for Joint Local Feature Detection and Description for Place Recognition in Changing Environments4. Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization5.Resolving Place Recognition Inconsistencies Using Intra-Set Similarities https://ieeexplore.ieee.org/abstract/document/9359453/6.Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems https://arxiv.org/abs/2104.100677.Retrieval and Localization with Observation Constraints8. A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge9. Semantic Reinforced Attention Learning for Visual Place Recognition10. STA-VPR: Spatio-Temporal Alignment for Visual Place Recognition https://arxiv.org/abs/2103.1358011. Visual Place Recognition Via Local Affine Preserving Matching
激光场景识别：1.DiSCO: Differentiable Scan Context with Orientation https://arxiv.org/abs/2010.109492.Robust Place Recognition Using an Imaging Lidar https://arxiv.org/abs/2103.021113. Locus: LiDAR-Based Place Recognition Using Spatiotemporal Higher-Order Pooling https://arxiv.org/abs/2011.144974. Resolving Place Recognition Inconsistencies Using Intra-Set Similarities https://ieeexplore.ieee.org/document/9359453/5.Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition https://arxiv.org/abs/2103.083666.Place Recognition in Forests with Urquhart Tessellations http://arxiv.org/pdf/2010.03026
多传感器融合定位：1. LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping https://arxiv.org/abs/2104.10831 / https://github.com/TixiaoShan/LVI-SAM2. MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments3. LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping https://arxiv.org/abs/2105.032654.Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space5. Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration6.Range-Visual-Inertial Odometry: Scale Observability without Excitation https://arxiv.org/pdf/2103.152157. Airflow-Inertial Odometry for Resilient State Estimation on Multirotors8. Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments9. Interval-Based Visual-LiDAR Sensor Fusion https://www.researchgate.net/publication/349141103_Interval-Based_Visual-LiDAR_Sensor_Fusion10.CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System https://arxiv.org/abs/2011.1135711.Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor https://irap.kaist.ac.kr/publications/hsjang-2021-icra.pdf12.Simple but Effective Redundant Odometry for Autonomous Vehicles https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/reinke2021icra.pdf13.Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry https://cvssp.org/Personal/OscarMendez/papers/pdf/MendezICRA2021.pdf14. Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry https://arxiv.org/abs/2011.0683815.Vanishing Point Aided LiDAR-Visual-Inertial Estimator https://people.inf.ethz.ch/pomarc/pubs/CamposecoICRA15.pdf16. 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：1.Lidar-Monocular Surface Reconstruction Using Line Segments https://arxiv.org/abs/2104.027612. Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning lidar SLAM1. SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure2.Greedy-Based Feature Selection for Efficient LiDAR SLAM https://arxiv.org/abs/2103.130903. Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-Scale Environments4. π-LSAM: LiDAR Smoothing and Mapping with Planes5.R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object https://ieeexplore.ieee.org/document/93579026.LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing https://ieeexplore.ieee.org/document/93594687. LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence https://arxiv.org/abs/2103.007848. 2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining9. Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment https://arxiv.org/abs/2102.0379810.Online Range-Based SLAM Using B-Spline Surfaces https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2021/03/09359349.pdf11. MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square https://arxiv.org/abs/2102.03771 / https://github.com/YuePanEdward/MULLS12. Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data https://arxiv.org/abs/2104.0365713.A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures https://hal.archives-ouvertes.fr/hal-03017841/document
lidar localization:1. 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/9363614/2. Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles3. NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation https://arxiv.org/abs/2103.122924. Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization
lidar mapping:1. BALM: Bundle Adjustment for Lidar Mapping https://arxiv.org/pdf/2010.082152. Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware https://arxiv.org/abs/2011.103483. ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building https://arxiv.org/abs/2103.043164.Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression5. Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking6.Poisson Surface Reconstruction for LiDAR Odometry and Mapping https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2021icra.pdf7. Dynamic Occupancy Grid Mapping with Recurrent Neural Networks https://arxiv.org/abs/2011.086598.Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data https://ieeexplore.ieee.org/document/9364688/9. Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning https://arxiv.org/abs/2010.0792910.MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior11. Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks https://arxiv.org/abs/2010.09232
LO & LIO:1. FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter https://arxiv.org/abs/2010.081962. KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry3.LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry https://arxiv.org/abs/2010.130724.PSF-LO: Parameterized Semantic Features Based Lidar Odometry https://arxiv.org/abs/2010.133555. ENCODE: A dEep poiNt Cloud ODometry NEtwork6.Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry7.Self-Supervised Learning of LiDAR Odometry for Robotic Applications https://arxiv.org/pdf/2011.05418
Point Cloud Registration:1.PHASER: A Robust and Correspondence-Free Global Pointcloud Registration https://arxiv.org/abs/2102.027672. 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/download3. Robust Motion Averaging under Maximum Correntropy Criterion https://arxiv.org/pdf/2004.098294. Toward a Unified Framework for Point Set Registration http://cvl.ist.osaka-u.ac.jp/wp-content/uploads/2021/03/li_icra2021.pdf5.Voxelized GICP for Fast and Accurate 3D Point Cloud Registration https://easychair.org/publications/preprint/ftvV6. Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds7. Learning the Next Best View for 3D Point Clouds Via Topological Features https://arxiv.org/abs/2103.027898. A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras https://arxiv.org/abs/2012.03683
feature:1. SKD: Keypoint Detection for Point Clouds Using Saliency Estimation https://arxiv.org/abs/1912.049432. Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator https://arxiv.org/pdf/2102.11261固态激光：1. Lightweight 3-D Localization and Mapping for Solid-State LiDAR https://arxiv.org/abs/2102.03800
点云压缩：1.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：1. Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets https://github.com/dcmlr/fingerprint-localization / https://ieeexplore.ieee.org/document/93636142. Learned Uncertainty Calibration for Visual Inertial Localization3.Deep Samplable Observation Model for Global Localization and Kidnapping https://arxiv.org/abs/2009.002114. Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement5.Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment https://arxiv.org/abs/2010.092976. LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)7. Global Aerial Localisation Using Image and Map Embeddings8.Range Image-Based LiDAR Localization for Autonomous Vehicles https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2021icra.pdf9.RadarLoc: Learning to Relocalize in FMCW Radar https://arxiv.org/abs/2103.1156210.Freetures: Localization in Signed Distance Function Maps https://arxiv.org/abs/2010.0937811. Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions https://ieeexplore.ieee.org/abstract/document/9354898/12. Learning to Localize in New Environments from Synthetic Training Data https://arxiv.org/abs/2011.0453913. Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps14.Robust Dual Quadric Initialization for Forward-Translating Camera Movements https://ieeexplore.ieee.org/document/938418915.3D Surfel Map-Aided Visual Relocalization with Learned Descriptors https://arxiv.org/abs/2104.03856学习：1.End-To-End Semi-Supervised Learning for Differentiable Particle Filters https://arxiv.org/abs/2011.057482. Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose EstimationRadar：1. 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/2011.035122.RadarLoc: Learning to Relocalize in FMCW Radar https://arxiv.org/abs/2103.115623. A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars定位与建图（不确定传感器）1. Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief
数据关联：1. CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association (I) https://arxiv.org/abs/1902.022562. ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants https://arxiv.org/abs/2011.036593.CLIPPER: A Graph-Theoretic Framework for Robust Data Association https://arxiv.org/abs/2011.10202后端：1. NF-iSAM: Incremental Smoothing and Mapping Via Normalizing Flows2. A Switching-Coupled Backend for Simultaneous Localization and Dynamic Object Tracking分布式SLAM：1. Distributed Client-Server Optimization for SLAM with Limited On-Device Resources https://arxiv.org/abs/2103.143032. Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation https://arxiv.org/abs/2104.147113. Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization4. Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors https://arxiv.org/abs/2103.153545. Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization https://scholar.google.com/scholar?oi=bibs&hl=es&cluster=16177649896940716005
long-term:1. Lifelong Localization in Semi-Dynamic Environment
标定：1. Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments https://ieeexplore.ieee.org/document/93611532. Efficient Online Calibration for Autonomous Vehicle's Longitudinal Dynamical System: A Gaussian Model Approach3. Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board4. Targetless Multiple Camera-LiDAR Extrinsic Calibration Using Object Pose Estimation5. Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras https://arxiv.org/abs/2012.142926. A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration https://arxiv.org/abs/2103.075057. Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching https://arxiv.org/abs/2102.043418. Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications https://arxiv.org/abs/2010.07441UWB：1. Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points https://www.aau.at/wp-content/uploads/2021/03/UWB_Initialization_ICRA_CNS.pdf2. Relative Position Estimation between Two UWB Devices with IMUs https://arxiv.org/abs/2104.107303.UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation4. 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：1. 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/download2. Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images https://arxiv.org/abs/2104.10900数据集：1. RADIATE: A Radar Dataset for Automotive Perception in Bad Weather https://arxiv.org/pdf/2010.090762.Cirrus: A Long-Range Bi-Pattern LiDAR Dataset https://arxiv.org/abs/2012.029383. 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/2f339961731cbaedf54d71f874541a5894ef5a154. A Multi-Spectral Dataset for Evaluating Motion Estimation Systems https://arxiv.org/abs/2007.006225. PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices6.Are We Ready for Unmanned Surface Vehicles in Inland Waterways? the USVInland Multisensor Dataset and Benchmark https://arxiv.org/abs/2103.053837.DSEC: A Stereo Event Camera Dataset for Driving Scenarios https://arxiv.org/abs/2103.060118.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：1. Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification https://ieeexplore.ieee.org/document/9353981
声源定位：1. GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization
GNSS：1. Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization
UAV：1. Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset https://ieeexplore.ieee.org/document/93249342.UAV Localization Using Autoencoded Satellite Images https://arxiv.org/abs/2102.056923. Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots https://arxiv.org/abs/2103.018854. Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization机器人定位建图：1.Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning2.Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements3. Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching https://arxiv.org/abs/2103.033954.A Comparison between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests https://arxiv.org/abs/2011.025085. State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks6.Robust Localization for Planar Moving Robot in Changing Environment: A Perspective on Density of Correspondence and Depth https://arxiv.org/abs/2011.00439PPA：1. 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:1.Predictive 3D Sonar Mapping of Underwater Environments Via Object-Specific Bayesian Inference https://arxiv.org/abs/2104.03203
触觉SLAM：1.Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing https://arxiv.org/abs/2011.07044
主动SLAM：1.Invariant EKF Based 2D Active SLAM with Exploration Task
IMU：1. IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach https://arxiv.org/abs/2103.142862.Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization3. IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving4.Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee https://arxiv.org/abs/2103.0235