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Dense, volumetric maps are essential to enable robot navigation and interaction with the environment.
“A fast voxel traversal algorithm for ray tracing.”
John Amanatides and Andrew Woo · 1987
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“Marching cubes: A high resolution 3D surface construction algorithm”
William Lorensen and Harvey Cline · 1998
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“Probabilistic robotics”
Sebastian Thrun · 2002
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“Parallel banding algorithm to compute exact distance transform with the GPU”
Thanh-Tung Cao, Ke Tang, Anis Mohamed and Tiow-Seng Tan · 2010
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“Kinectfusion: real-time 3d reconstruction and interaction using a moving depth camera”
Shahram Izadi, David Kim, Otmar Hilliges, David Molyneaux, Richard Newcombe, Pushmeet Kohli, Jamie Shotton, Steve Hodges, Dustin Freeman and Andrew Davison · 2011
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“Kintinuous: Spatially extended kinectfusion”, 2012
Thomas Whelan, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard and John McDonald · 2012
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“OctoMap: An efficient probabilistic 3D mapping framework based on octrees”
Armin Hornung, Kai Wurm, Maren Bennewitz, Cyrill Stachniss and Wolfram Burgard · 2013
Earlier work this paper cites.
“Dense visual SLAM for RGB-D cameras”
Christian Kerl, Jürgen Sturm and Daniel Cremers · 2013
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“Real-time 3D reconstruction at scale using voxel hashing”
Matthias Nießner, Michael Zollhöfer, Shahram Izadi and Marc Stamminger · 2013
Earlier work this paper cites.
“Sun3d: A database of big spaces reconstructed using sfm and object labels”
Jianxiong Xiao, Andrew Owens and Antonio Torralba · 2013
Earlier work this paper cites.
“LSD-SLAM: Large-scale direct monocular SLAM”
Jakob Engel, Thomas Schöps and Daniel Cremers · 2014
Earlier work this paper cites.
“ORB-SLAM: a versatile and accurate monocular SLAM system”
Raul Mur-Artal, Jose Montiel and Juan Tardos · 2015
Earlier work this paper cites.
“ElasticFusion: Dense SLAM without a pose graph”, 2015
Thomas Whelan, Stefan Leutenegger, Renato Salas-Moreno, Ben Glocker and Andrew Davison · 2015
Earlier work this paper cites.
“Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age”
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian Reid and John Leonard · 2016
Cited alongside, same era.
“Signed Distance Fields: A Natural Representation for Both Mapping and Planning”
Helen Oleynikova, Alex Millane, Zachary Taylor, Enric Galceran, Juan Nieto and Roland Siegwart · 2016
Cited alongside, same era.
“Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning”
Helen Oleynikova, Zachary Taylor, Marius Fehr, Roland Siegwart and Juan Nieto · 2017
Cited alongside, same era.
“Colored Point Cloud Registration Revisited”
Jaesik Park, Qian-Yi Zhou and Vladlen Koltun · 2017
Cited alongside, same era.
“maplab: An open framework for research in visual-inertial mapping and localization”
Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski and Roland Siegwart · 2018
Cited alongside, same era.
“Spatio-temporal voxel layer: A view on robot perception for the dynamic world”
Steve Macenski, David Tsai and Max Feinberg · 2020
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“Graph-based subterranean exploration path planning using aerial and legged robots” Wiley Online Library
Tung Dang, Marco Tranzatto, Shehryar Khattak, Frank Mascarich, Kostas Alexis and Marco Hutter · 2020
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“An open-source system for vision-based micro-aerial vehicle mapping, planning, and flight in cluttered environments”
Helen Oleynikova, Christian Lanegger, Zachary Taylor, Michael Pantic, Alexander Millane, Roland Siegwart and Juan Nieto · 2020
Later among the works it cites.
“Nerf: Representing scenes as neural radiance fields for view synthesis”
Ben Mildenhall, Pratul Srinivasan, Matthew Tancik, Jonathan Barron, Ravi Ramamoorthi and Ren Ng · 2021
Later among the works it cites.
“iMAP: Implicit mapping and positioning in real-time”
Edgar Sucar, Shikun Liu, Joseph Ortiz and Andrew Davison · 2021
Later among the works it cites.
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“Sparse 3d topological graphs for micro-aerial vehicle planning”
Helen Oleynikova, Zachary Taylor, Roland Siegwart and Juan Nieto · 2018
Cited alongside, same era.
“Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps”
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena and Juan Nieto · 2019
Cited alongside, same era.
“Fiesta: Fast incremental euclidean distance fields for online motion planning of aerial robots”
Luxin Han, Fei Gao, Boyu Zhou and Shaojie Shen · 2019
Cited alongside, same era.
“Volumetric instance-aware semantic mapping and 3D object discovery”
Margarita Grinvald, Fadri Furrer, Tonci Novkovic, Jen Chung, Cesar Cadena, Roland Siegwart and Juan Nieto · 2019
Cited alongside, same era.
“stdgpu: Efficient STL-like data structures on the GPU”
Patrick Stotko · 2019
Cited alongside, same era.
“The Replica Dataset: A Digital Replica of Indoor Spaces”
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke. Strasdat, Renzo Nardi, Michael Goesele, Steven Lovegrove and Richard Newcombe · 2019
Cited alongside, same era.
“Kimera: an open-source library for real-time metric-semantic localization and mapping”
Antoni Rosinol, Marcus Abate, Yun Chang and Luca Carlone · 2020
Cited alongside, same era.
“Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter”
Wei Xu and Fu Zhang · 2021
Later among the works it cites.
“Instant neural graphics primitives with a multiresolution hash encoding”
Thomas Müller, Alex Evans, Christoph Schied and Alexander Keller · 2022
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“Nice-slam: Neural implicit scalable encoding for slam”
Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin Oswald and Marc Pollefeys · 2022
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“CERBERUS in the DARPA Subterranean Challenge”
Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter and Roland Siegwart · 2022
Later among the works it cites.
“Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction”
Yue Pan, Yves Kompis, Luca Bartolomei, Ruben Mascaro, Cyrill Stachniss and Margarita Chli · 2022
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“CuRobo: Parallelized Collision-Free Robot Motion Generation”
Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa and Fabio Ramos · 2023
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“Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs”
Michael Pantic, Isar Meijer, Rik Bähnemann, Nikhilesh Alatur, Olov Andersson, Cesar Cadena, Roland Siegwart and Lionel Ott · 2023
Closest in time.