Fetching the paper…
Reading the bibliography…
The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios.
P. J. Besl and N. D. McKay, “Method for registration of 3-d shapes,” in Sensor fusion IV , vol. 1611, 1992, pp. 586–606
1992
Earlier work this paper cites.
S. Rusinkiewicz and M. Levoy, “Efficient variants of the icp algorithm,” in Proceedings third international conference on 3-D digital imaging and modeling , 2001, pp. 145–152
2001
Earlier work this paper cites.
K.-L. Low, “Linear least-squares optimization for point-to-plane icp surface registration,” Chapel Hill, University of North Carolina , vol. 4, no. 10, pp. 1–3, 2004
2004
Earlier work this paper cites.
H. Temeltas and D. Kayak, “SLAM for robot navigation,” IEEE Aerospace and Electronic Systems Magazine , vol. 23, no. 12, pp. 16–19, 2008
2008
Earlier work this paper cites.
“iSAM: Incremental smoothing and mapping, author=Kaess, Michael and Ranganathan, Ananth and Dellaert, Frank,” IEEE Transactions on Robotics , vol. 24, no. 6, pp. 1365–1378, 2008
2008
Earlier work this paper cites.
A. Censi, “An icp variant using a point-to-line metric,” in IEEE International Conference on Robotics and Automation , 2008, pp. 19–25
2008
Earlier work this paper cites.
A. Segal, D. Haehnel, and S. Thrun, “Generalized-ICP,” in Robotics: science and systems , vol. 2, no. 4, 2009, p. 435
2009
Earlier work this paper cites.
R. B. Rusu, N. Blodow, and M. Beetz, “Fast point feature histograms (FPFH) for 3D registration,” in 2009 IEEE international conference on robotics and automation , 2009, pp. 3212–3217
2009
Earlier work this paper cites.
G. Grisetti, R. Kümmerle, C. Stachniss, U. Frese, and C. Hertzberg, “Hierarchical optimization on manifolds for online 2D and 3D mapping,” in 2010 IEEE International Conference on Robotics and Automation , 2010, pp. 273–278
2010
Earlier work this paper cites.
K. Ni and F. Dellaert, “Multi-level submap based slam using nested dissection,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2010, pp. 2558–2565
2010
Earlier work this paper cites.
S. Izadi, D. Kim, O. Hilliges, D. Molyneaux, R. Newcombe, P. Kohli, J. Shotton, S. Hodges, D. Freeman, A. Davison, et al. , “KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera,” in Proceedings of the 24th annual ACM symposium on User interface software and technology , 2011, pp. 559–568
2011
Earlier work this paper cites.
R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard, “g2o: A general framework for graph optimization,” in 2011 IEEE International Conference on Robotics and Automation , 2011, pp. 3607–3613
2011
Earlier work this paper cites.
G. Grisetti, R. Kümmerle, and K. Ni, “Robust optimization of factor graphs by using condensed measurements,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , 2012, pp. 581–588
2012
Earlier work this paper cites.
A. Geiger, P. Lenz, and R. Urtasun, “Are we ready for autonomous driving? the kitti vision benchmark suite,” in IEEE Conference on Computer Vision and Pattern Recognition (CVPR) , 2012
2012
Earlier work this paper cites.
C. Forster, M. Pizzoli, and D. Scaramuzza, “SVO: Fast semi-direct monocular visual odometry,” in 2014 IEEE international conference on robotics and automation (ICRA) , 2014, pp. 15–22
2014
Earlier work this paper cites.
J. Zhang and S. Singh, “Loam: Lidar odometry and mapping in real-time.” in Robotics: Science and Systems , vol. 2, no. 9, 2014
2014
Earlier work this paper cites.
N. Mellado, D. Aiger, and N. J. Mitra, “Super 4pcs fast global pointcloud registration via smart indexing,” in Computer Graphics Forum , vol. 33, no. 5, 2014, pp. 205–215
2014
Earlier work this paper cites.
R. Mur-Artal, J. M. M. Montiel, and J. D. Tardos, “ORB-SLAM: a versatile and accurate monocular SLAM system,” IEEE transactions on robotics , vol. 31, no. 5, pp. 1147–1163, 2015
2015
Earlier work this paper cites.
T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. J. Leonard, and J. McDonald, “Real-time large-scale dense rgb-d slam with volumetric fusion,” The International Journal of Robotics Research , vol. 34, no. 4-5, pp. 598–626, 2015
2015
Earlier work this paper cites.
F. Pomerleau, F. Colas, and R. Siegwart, “A review of point cloud registration algorithms for mobile robotics,” Foundations and Trends in Robotics , vol. 4, no. 1, pp. 1–104, 2015
2015
Earlier work this paper cites.
J. Yang, H. Li, D. Campbell, and Y. Jia, “Go-ICP: A globally optimal solution to 3D ICP point-set registration,” IEEE transactions on pattern analysis and machine intelligence , vol. 38, no. 11, pp. 2241–2254, 2015
2015
Earlier work this paper cites.
L. He, X. Wang, and H. Zhang, “M2DP: A novel 3D point cloud descriptor and its application in loop closure detection,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2016, pp. 231–237
2016
Earlier work this paper cites.
T. Hackel, J. D. Wegner, and K. Schindler, “Fast semantic segmentation of 3D point clouds with strongly varying density,” ISPRS annals of the photogrammetry, remote sensing and spatial information sciences , vol. 3, pp. 177–184, 2016
2016
Cited alongside, same era.
T. Qin, P. Li, and S. Shen, “VINS-Mono: A robust and versatile monocular visual-inertial state estimator,” IEEE Transactions on Robotics , vol. 34, no. 4, pp. 1004–1020, 2018
2018
Cited alongside, same era.
J.-E. Deschaud, “Imls-slam: scan-to-model matching based on 3d data,” in IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2018, pp. 2480–2485
2018
Cited alongside, same era.
J. Graeter, A. Wilczynski, and M. Lauer, “Limo: Lidar-monocular visual odometry,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 7872–7879
2018
Cited alongside, same era.
J. Lin and F. Zhang, “Loam livox: A fast, robust, high-precision lidar odometry and mapping package for lidars of small fov,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) , 2020, pp. 3126–3131
2020
Later among the works it cites.
S. W. Chen, G. V. Nardari, E. S. Lee, C. Qu, X. Liu, R. A. F. Romero, and V. Kumar, “SLOAM: Semantic lidar odometry and mapping for forest inventory,” IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 612–619, 2020
2020
Later among the works it cites.
T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and R. Daniela, “LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2020
2020
Later among the works it cites.
I. García Daza, M. Rentero, C. Salinas Maldonado, R. Izquierdo Gonzalo, and N. Hernández Parra, “Fail-aware lidar-based odometry for autonomous vehicles,” Sensors , vol. 20, no. 15, p. 4097, 2020
2020
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
F. Neuhaus, T. Koß, R. Kohnen, and D. Paulus, “Mc2slam: Real-time inertial lidar odometry using two-scan motion compensation,” in German Conference on Pattern Recognition , 2018
2018
Cited alongside, same era.
T. Shan and B. Englot, “Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 4758–4765
2018
Cited alongside, same era.
J. Behley and C. Stachniss, “Efficient surfel-based slam using 3d laser range data in urban environments.” in Robotics: Science and Systems , 2018
2018
Cited alongside, same era.
G. Kim and A. Kim, “Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2018, pp. 4802–4809
2018
Cited alongside, same era.
W.-C. Ma, I. Tartavull, I. A. Bârsan, S. Wang, M. Bai, G. Mattyus, N. Homayounfar, S. K. Lakshmikanth, A. Pokrovsky, and R. Urtasun, “Exploiting Sparse Semantic HD Maps for Self-Driving Vehicle Localization,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2019, pp. 5304–5311
2019
Cited alongside, same era.
M. Labbé and F. Michaud, “RTAB-Map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation,” Journal of Field Robotics , vol. 36, no. 2, pp. 416–446, 2019
2019
Cited alongside, same era.
X. Chen, A. Milioto, E. Palazzolo, P. Giguère, J. Behley, and C. Stachniss, “Suma++: Efficient lidar-based semantic slam,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2019, pp. 4530–4537
2019
Cited alongside, same era.
D. Kovalenko, M. Korobkin, and A. Minin, “Sensor aware lidar odometry,” in 2019 European Conference on Mobile Robots (ECMR) , 2019, pp. 1–6
2019
Cited alongside, same era.
Later among the works it cites.
B. Zhou, Y. He, K. Qian, X. Ma, and X. Li, “S4-SLAM: A real-time 3D LIDAR SLAM system for ground/watersurface multi-scene outdoor applications,” Autonomous Robots , pp. 1–22, 2020
2020
Later among the works it cites.
2020
Later among the works it cites.
C. Zheng, Y. Lyu, M. Li, and Z. Zhang, “Lodonet: A deep neural network with 2d keypoint matching for 3d lidar odometry estimation,” in Proceedings of the 28th ACM International Conference on Multimedia , 2020, pp. 2391–2399
2020
Later among the works it cites.
R. Dubé, A. Cramariuc, D. Dugas, H. Sommer, M. Dymczyk, J. Nieto, R. Siegwart, and C. Cadena, “SegMap: Segment-based mapping and localization using data-driven descriptors,” The International Journal of Robotics Research , vol. 39, no. 2-3, pp. 339–355, 2020
2020
Later among the works it cites.
J. Jiang, J. Wang, P. Wang, P. Bao, and Z. Chen, “LiPMatch: LiDAR Point Cloud Plane Based Loop-Closure,” IEEE Robotics and Automation Letters , vol. 5, no. 4, pp. 6861–6868, 2020
2020
Later among the works it cites.
F. Liang, B. Yang, Z. Dong, R. Huang, Y. Zang, and Y. Pan, “A novel skyline context descriptor for rapid localization of terrestrial laser scans to airborne laser scanning point clouds,” ISPRS Journal of Photogrammetry and Remote Sensing , vol. 165, pp. 120–132, 2020
2020
Later among the works it cites.
X. Chen, T. Läbe, A. Milioto, T. Röhling, O. Vysotska, A. Haag, J. Behley, C. Stachniss, and F. Fraunhofer, “OverlapNet: Loop closing for LiDAR-based SLAM,” in Proc. Robot.: Sci. Syst. , 2020
2020
Later among the works it cites.
S. Li, G. Li, L. Wang, and Y. Qin, “Slam integrated mobile mapping system in complex urban environments,” ISPRS Journal of Photogrammetry and Remote Sensing , vol. 166, pp. 316–332, 2020
2020
Later among the works it cites.
M. Palieri, B. Morrell, A. Thakur, K. Ebadi, J. Nash, A. Chatterjee, C. Kanellakis, L. Carlone, C. Guaragnella, and A.-a. Agha-mohammadi, “LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time,” IEEE Robotics and Automation Letters , vol. 6, no. 2, pp. 421–428, 2020
2020
Later among the works it cites.
H. Yang, J. Shi, and L. Carlone, “TEASER: Fast and Certifiable Point Cloud Registration,” IEEE Trans. Robotics , 2020
2020
Later among the works it cites.
T. Kühner and J. Kümmerle, “Large-scale volumetric scene reconstruction using lidar,” in IEEE International Conference on Robotics and Automation (ICRA) , 2020, pp. 6261–6267
2020
Later among the works it cites.
H. Yang, P. Antonante, V. Tzoumas, and L. Carlone, “Graduated non-convexity for robust spatial perception: From non-minimal solvers to global outlier rejection,” IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 1127–1134, 2020
2020
Later among the works it cites.
2020
Later among the works it cites.
C. Wang, Y. Dai, N. Elsheimy, C. Wen, G. Retscher, Z. Kang, and A. Lingua, “Isprs benchmark on multisensory indoor mapping and positioning,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences , vol. 5, pp. 117–123, 2020
2020
Later among the works it cites.
2020
Later among the works it cites.
M. Yokozuka, K. Koide, S. Oishi, and A. Banno, “LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence,” IEEE International Conference on Robotics and Automation (ICRA) , 2021
2021
Closest in time.
S. Huang, Z. Gojcic, M. Usvyatsov, A. Wieser, and K. Schindler, “PREDATOR: Registration of 3D Point Clouds with Low Overlap,” in Conference on Computer Vision and Pattern Recognition (CVPR) , 2021
2021
Closest in time.
H. Wang, C. Wang, and L. Xie, “Intensity scan context: Coding intensity and geometry relations for loop closure detection,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) , 2020, pp. 2095–2101
2095
Closest in time.