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Accurate and robust localization and mapping are essential components for most autonomous robots.
Marching Cubes: a High Resolution 3D Surface Construction Algorithm
W. Lorensen and H. Cline · 1987
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A Method for Registration of 3D Shapes
P. Besl and N. McKay · 1992
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Efficient variants of the ICP algorithm
S. Rusinkiewicz and M. Levoy · 2001
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Robust Monte Carlo Localization for Mobile Robots
S. Thrun, D. Fox, W. Burgard, and F. Dellaert · 2001
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FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit · 2002
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Information Gain-based Exploration Using Rao-Blackwellized Particle Filters
C. Stachniss, G. Grisetti, and W. Burgard · 2005
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Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters
G. Grisetti, C. Stachniss, and W. Burgard · 2007
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A flexible and scalable slam system with full 3d motion estimation
S. Kohlbrecher, S.O. Von, J. Meyer, and U. Klingauf · 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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Factor graphs and gtsam: A hands-on introduction
F. Dellaert · 2012
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Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite
A. Geiger, P. Lenz, and R. Urtasun · 2012
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OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees
A. Hornung, K. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard · 2013
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Real-time 3d reconstruction at scale using voxel hashing
M. Nießner, M. Zollhöfer, S. Izadi, and M. Stamminger · 2013
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LOAM: Lidar Odometry and Mapping in Real-time
J. Zhang and S. Singh · 2014
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Adam: A Method for Stochastic Optimization
D. Kingma and J. Ba · 2015
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ElasticFusion: Dense SLAM Without A Pose Graph
T. Whelan, S. Leutenegger, R.S. Moreno, B. Glocker, and A. Davison · 2015
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Real-Time Loop Closure in 2D LIDAR SLAM
W. Hess, D. Kohler, H. Rapp, and D. Andor · 2016
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Hilbert maps: Scalable continuous occupancy mapping with stochastic gradient descent
F. Ramos and L. Ott · 2016
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On Degeneracy of Optimization-Based State Estimation Problems
J. Zhang, M. Kaess, and S. Singh · 2016
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BundleFusion: Real-time Globally Consistent 3D Reconstruction using Online Surface Re-integration
A. Dai, M. Nießner, M. Zollhöfer, S. Izadi, and C. Theobalt · 2017
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Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning
H. Oleynikova, Z. Taylor, M. Fehr, R. Siegwar, and J. Nieto · 2017
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Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments
J. Behley and C. Stachniss · 2018
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IMLS-SLAM: scan-to-model matching based on 3D data
J. Deschaud · 2018
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Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map
G. Kim and A. Kim · 2018
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LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
T. Shan and B. Englot · 2018
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PointNetVLAD: Deep point cloud based retrieval for large-scale place recognition
A. Uy and G. Lee · 2018
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A tutorial on quantitative trajectory evaluation for visual(-inertial) odometry
Z. Zhang and D. Scaramuzza · 2018
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SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, C. Stachniss, and J. Gall · 2019
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SuMa++: Efficient LiDAR-based Semantic SLAM
X. Chen, A. Milioto, E. Palazzolo, P. Giguère, J. Behley, and C. Stachniss · 2019
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A portable three-dimensional lidar-based system for long-term and wide-area people behavior measurement
K. Koide, J. Miura, and E. Menegatti · 2019
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Lo-net: Deep real-time lidar odometry
Q. Li, S. Chen, C. Wang, X. Li, C. Wen, M. Cheng, and J. Li · 2019
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Loam_livox A Robust LiDAR Odemetry and Mapping LOAM Package for Livox LiDAR
J. Lin and F. Zhang · 2019
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Occupancy networks: Learning 3d reconstruction in function space
L. Mescheder, M. Oechsle, M. Niemeyer, S. Nowozin, and A. Geiger · 2019
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RangeNet++: Fast and Accurate LiDAR Semantic Segmentation
A. Milioto, I. Vizzo, J. Behley, and C. Stachniss · 2019
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DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation
J.J. Park, P. Florence, J. Straub, R. Newcombe, and S. Lovegrove · 2019
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PyTorch: An Imperative Style, High-Performance Deep Learning Library
A. Paszke, S. Gross, F. Massa, A. Lerer, J. Bradbury, G. Chanan, T. Killeen, Z. Lin, N. N. Gimelshein, L. Antiga, A. Desmaison, A. Kopf, E. Yang, Z. DeVito, M. Raison, A. Tejani, S. Chilamkurthy, B. Steiner, L. Fang, J. Bai, and S. Chintala · 2019
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Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps
V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, and J. Nieto · 2019
Cited alongside, same era.
The replica dataset: A digital replica of indoor spaces
J. Straub, T. Whelan, L. Ma, Y. Chen, E. Wijmans, S. Green, J.J. Engel, R. Mur-Artal, C. Ren, S. Verma, et al · 2019
Cited alongside, same era.
Implicit geometric regularization for learning shapes
A. Gropp, L. Yariv, N. Haim, M. Atzmon, and Y. Lipman · 2020
Locus 2.0: Robust and computationally efficient lidar odometry for real-time 3d mapping
A. Reinke, M. Palieri, B. Morrell, Y. Chang, K. Ebadi, L. Carlone, and A.A. Agha-Mohammadi · 2022
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VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data
I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss · 2022
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Efficient 3d deep lidar odometry
G. Wang, X. Wu, S. Jiang, Z. Liu, and H. Wang · 2022
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Point-nerf: Point-based neural radiance fields
Q. Xu, Z. Xu, J. Philip, S. Bi, Z. Shu, K. Sunkavalli, and U. Neumann · 2022
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Fast-lio2: Fast direct lidar-inertial odometry
W. Xu, Y. Cai, D. He, J. Lin, and F. Zhang · 2022
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Vox-fusion: Dense tracking and mapping with voxel-based neural implicit representation
X. Yang, H. Li, H. Zhai, Y. Ming, Y. Liu, and G. Zhang · 2022
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Cited alongside, same era.
Mulran: Multimodal range dataset for urban place recognition
G. Kim, Y. Park, Y. Cho, J. Jeong, and A. Kim · 2020
Cited alongside, same era.
NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis
B. Mildenhall, P. Srinivasan, M. Tancik, J. Barron, R. Ramamoorthi, and R. Ng · 2020
Cited alongside, same era.
Convolutional occupancy networks
S. Peng, M. Niemeyer, L. Mescheder, M. Pollefeys, and A. Geiger · 2020
Cited alongside, same era.
Lins: A lidar-inertial state estimator for robust and efficient navigation
C. Qin, H. Ye, C.E. Pranata, J. Han, S. Zhang, and M. Liu · 2020
Cited alongside, same era.
The newer college dataset: Handheld lidar, inertial and vision with ground truth
M. Ramezani, Y. Wang, M. Camurri, D. Wisth, M. Mattamala, and M. Fallon · 2020
Cited alongside, same era.
Gp-slam+: real-time 3d lidar slam based on improved regionalized gaussian process map reconstruction
J. Ruan, B. Li, Y. Wang, and Z. Fang · 2020
Cited alongside, same era.
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus · 2020
Cited alongside, same era.
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An algorithm for the se(3)-transformation on neural implicit maps for remapping functions
Y. Yuan and A. Nüchter · 2022
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Nice-slam: Neural implicit scalable encoding for slam
Z. Zhu, S. Peng, V. Larsson, W. Xu, H. Bao, Z. Cui, M.R. Oswald, and M. Pollefeys · 2022
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Nerf-loam: Neural implicit representation for large-scale incremental lidar odometry and mapping
J. Deng, X. Chen, S. Xia, Z. Sun, G. Liu, W. Yu, and L. Pei · 2023
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Neural kernel surface reconstruction
J. Huang, Z. Gojcic, M. Atzmon, O. Litany, S. Fidler, and F. Williams · 2023
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Neural lidar fields for novel view synthesis
S. Huang, Z. Gojcic, Z. Wang, F. Williams, Y. Kasten, S. Fidler, K. Schindler, and O. Litany · 2023
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Loner: Lidar only neural representations for real-time slam
S. Isaacson, P.C. Kung, M. Ramanagopal, R. Vasudevan, and K.A. Skinner · 2023
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ESLAM: Efficient dense slam system based on hybrid representation of signed distance fields
M.M. Johari, C. Carta, and F. Fleuret · 2023
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IR-MCL: Implicit Representation-Based Online Global Localization
H. Kuang, X. Chen, T. Guadagnino, N. Zimmerman, J. Behley, and C. Stachniss · 2023
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Neuralangelo: High-fidelity neural surface reconstruction
Z. Li, T. Müller, A. Evans, R.H. Taylor, M. Unberath, M.Y. Liu, and C.H. Lin · 2023
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Large-scale lidar consistent mapping using hierarchical lidar bundle adjustment
X. Liu, Z. Liu, F. Kong, and F. Zhang · 2023
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Efficient and consistent bundle adjustment on lidar point clouds
Z. Liu, X. Liu, and F. Zhang · 2023
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BEVPlace: Learning LiDAR-based place recognition using bird’s eye view images
L. Luo, S. Zheng, Y. Li, Y. Fan, B. Yu, S. Cao, and H.L. Shen · 2023
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Permutosdf: Fast multi-view reconstruction with implicit surfaces using permutohedral lattices
R.A. Rosu and S. Behnke · 2023
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Slamesh: Real-time lidar simultaneous localization and meshing
J. Ruan, B. Li, Y. Wang, and Y. Sun · 2023
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Point-slam: Dense neural point cloud-based slam
E. Sandström, Y. Li, L. Van Gool, and M. R. Oswald · 2023
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Dynablox: Real-time detection of diverse dynamic objects in complex environments
L. Schmid, O. Andersson, A. Sulser, P. Pfreundschuh, and R. Siegwart · 2023
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Mips-fusion: Multi-implicit-submaps for scalable and robust online neural rgb-d reconstruction
Y. Tang, J. Zhang, Z. Yu, H. Wang, and K. Xu · 2023
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KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
I. Vizzo, T. Guadagnino, B. Mersch, L. Wiesmann, J. Behley, and C. Stachniss · 2023
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PyPose: A library for robot learning with physics-based optimization
C. Wang, D. Gao, K. Xu, J. Geng, Y. Hu, Y. Qiu, B. Li, F. Yang, B. Moon, A. Pandey, Aryan, J. Xu, T. Wu, H. He, D. Huang, Z. Ren, S. Zhao, T. Fu, P. Reddy, X. Lin, W. Wang, J. Shi, R. Talak, K. Cao, Y. Du, H. Wang, H. Yu, S. Wang, S. Chen, A. Kashyap, R. Bandaru, K. Dantu, J. Wu, L. Xie, L. Carlone, M. Hutter, and S. Scherer · 2023
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Co-slam: Joint coordinate and sparse parametric encodings for neural real-time slam
H. Wang, J. Wang, and L. Agapito · 2023
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Locndf: Neural distance field mapping for robot localization
L. Wiesmann, T. Guadagnino, I. Vizzo, N. Zimmerman, Y. Pan, H. Kuang, J. Behley, and C. Stachniss · 2023
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Log-gpis-mop: A unified representation for mapping, odometry, and planning
L. Wu, K.M.B. Lee, C. Le Gentil, and T. Vidal-Calleja · 2023
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Active neural mapping
Z. Yan, H. Yang, and H. Zha · 2023
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Nf-atlas: Multi-volume neural feature fields for large scale lidar mapping
X. Yu, Y. Liu, S. Mao, S. Zhou, R. Xiong, Y. Liao, and Y. Wang · 2023
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SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations
X. Zhong, Y. Pan, J. Behley, and C. Stachniss · 2023
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Particlenerf: A particle-based encoding for online neural radiance fields
J. Abou-Chakra, F. Dayoub, and N. Sünderhauf · 2024
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Lio-ekf: High frequency lidar-inertial odometry using extended kalman filters
Y. Wu, T. Guadagnino, L. Wiesmann, L. Klingbeil, C. Stachniss, and H. Kuhlmann · 2024
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