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We discuss and predict the evolution of Simultaneous Localisation and Mapping (SLAM) into a general geometric and semantic `Spatial AI' perception capability for intelligent embodied devices.
An Iterative Image Registration Technique with an Application to Stereo Vision
B. D. Lucas and T. Kanade · 1981
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Animate Vision
D. H. Ballard · 1991
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Real-Time Simultaneous Localisation and Mapping with a Single Camera
A. J. Davison · 2003
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Active Search for Real-Time Vision
A. J. Davison · 2005
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Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
F. Dellaert and M. Kaess · 2006
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Machine learning for high-speed corner detection
E. Rosten and T. Drummond · 2006
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MonoSLAM: Real-Time Single Camera SLAM
A. J. Davison, N. D. Molton, I. Reid, and O. Stasse · 2007
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Parallel Tracking and Mapping for Small AR Workspaces
G. Klein and D. W. Murray · 2007
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Real-time Computation of Variational Methods on Graphics Hardware
T. Pock, M. Grabner, and H. Bischof · 2007
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FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
K. Konolige and M. Agrawal · 2008
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Fast Total Variation for Computer Vision
T. Pock · 2008
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Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps
M. Chli and A. J. Davison · 2009
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Sparse Sparse Bundle Adjustment
K. Konolige · 2010
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OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems
K. M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard · 2010
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Parametric Dense Visual SLAM
S. J. Lovegrove · 2011
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RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo
C. Mei, G. Sibley, M. Cummins, P. Newman, and I. Reid · 2011
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KinectFusion: Real-Time Dense Surface Mapping and Tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohli, J. Shotton, S. Hodges, and A. Fitzgibbon · 2011
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DTAM: Dense Tracking and Mapping in Real-Time
R. A. Newcombe, S. Lovegrove, and A. J. Davison · 2011
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Welcome to the jungle
H. Sutter · 2011
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Real-Time Camera Tracking: When is High Frame-Rate Best?
A. Handa, R. A. Newcombe, A. Angeli, and A. J. Davison · 2012
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iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. Leonard, and F. Dellaert · 2012
Cited alongside, same era.
ImageNet classification with deep convolutional neural networks
A. Krizhevsky, I. Sutskever, and G. Hinton · 2012
Cited alongside, same era.
Dense Visual SLAM
R. A. Newcombe · 2012
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A Benchmark for the Evaluation of RGB-D SLAM Systems
J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers · 2012
Cited alongside, same era.
SLAM++: Simultaneous Localisation and Mapping at the Level of Objects
R. F. Salas-Moreno, R. A. Newcombe, H. Strasdat, P. H. J. Kelly, and A. J. Davison · 2013
Cited alongside, same era.
LSD-SLAM: Large-scale direct monocular SLAM
J. Engel, T. Schoeps, and D. Cremers · 2014
Cited alongside, same era.
Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail
J. Zienkiewicz, A. Tsiotsios, A. J. Davison, and S. Leutenegger · 2016
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Semantic texture for robust dense tracking
J. Czarnowski, S. Leutenegger, and A. J. Davison · 2017
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ScanNet: Richly-annotated 3d reconstructions of indoor scene
A. Dai, A. X. Chang, M. Savva, M. Halber, T. Funkhouser, and M. Nießner · 2017
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Cognitive mapping and planning for visual navigation
S. Gupta, J. Davidson, S. Levine, R. Sukthankar, and J. Malik · 2017
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Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task
S. James, A. J. Davison, and E. Johns · 2017
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SVO: Fast Semi-Direct Monocular Visual Odometry
C. Forster, M. Pizzoli, and D. Scaramuzza · 2014
Cited alongside, same era.
The SpiNNaker Project
S. B. Furber, F. Galluppi, S. Temple, and L. A. Plana · 2014
Cited alongside, same era.
A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM
A. Handa, T. Whelan, J. B. McDonald, and A. J. Davison · 2014
Cited alongside, same era.
Keyframe-based visual-inertial odometry using nonlinear optimization
S. Leutenegger, S. Lynen, M. Bosse, R. Siegwart, and P. Furgale · 2014
Cited alongside, same era.
Deep spatial autoencoders for visuomotor learning
C. Finn, X. Y. Tan, Y. Duan, T. Darrell, S. Levine, and P. Abbeel · 2015
Cited alongside, same era.
M. Jaderberg, K. Simonyan, A. Zisserman, and K. Kavukcuoglu · 2015
Cited alongside, same era.
SemanticFusion: Dense 3D semantic mapping with convolutional neural networks
J. McCormac, A. Handa, A. J. Davison, and S. Leutenegger · 2017
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SceneNet RGB-D: Can 5M synthetic images beat generic ImageNet pre-training on indoor segmentation?
J. McCormac, A. Handa, S. Leutenegger, and A. J. Davison · 2017
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Algorithmic performance-accuracy trade-off in 3d vision applications using hypermapper
L. Nardi, B. Bodin, S. Saeedi, E. Vespa, A. J. Davison, and P. H. J. Kelly · 2017
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Theoretical impediments to machine learning, with seven sparks from the causal revolution
J. Pearl · 2017
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Co-Fusion: Real-time segmentation, tracking and fusion of multiple objects
M. Rünz and L. Agapito · 2017
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Application-oriented design space exploration for SLAM algorithms
S. Saeedi, L. Nardi, E. Johns, B. Bodin, P. Kelly, and A. Davison · 2017
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Self-supervised visual descriptor learning for dense correspondence
T. Schmidt, R. Newcombe, and D. Fox · 2017
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A Berkeley view of systems challenges for AI
I. Stoica, D. Song, R. A. Popa, D. A. Patterson, M. W. Mahoney, R. H. Katz, A. D. Joseph, M. Jordan, J. M. Hellerstein, J. Gonzalez, K. Goldberg, A. Ghodsi, D. E. Culler, and P. Abbeel · 2017
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CNN-SLAM: Real-time dense monocular slam with learned depth prediction
K. Tateno, F. Tombari, I. Laina, and N. Navab · 2017
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DeepVO: Towards end to end visual odometry with deep recurrent convolutional neural networks
H. Wen, S. Wang, R. Clark, and N. Trigoni · 2017
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DA-RNN: Semantic mapping with data associated recurrent neural networks
Y. Xiang and D. Fox · 2017
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Unsupervised learning of depth and ego-motion from video
T. Zhou, M. Brown, N. Snavely, and D. G. Lowe · 2017
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URL http://www.slamcore.com/, 2018
SLAMcore · 2018
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CodeSLAM — learning a compact, optimisable representation for dense visual SLAM
M. Bloesch, J. Czarnowski, R. Clark, S. Leutenegger, and A. J. Davison · 2018
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SLAMBench2: Multi-objective head-to-head benchmarking for visual SLAM
B. Bodin, H. Wagstaff, S. Saeedi, L. Nardi, E. Vespa, J. H. Mayer, A. Nisbet, M. Luján, S. Furber, A. J. Davison, P. H. J. Kelly, and M. O’Boyle · 2018
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