Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this technology to industry. We survey the current state of SLAM and consider future directions. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved?

[1]  J. Gibson.  The Ecological Approach to Visual Perception , 1979 .

[2]  ARISTIDES A. G. REQUICHA,et al.  Representations for Rigid Solids: Theory, Methods, and Systems , 1980, CSUR.

[3]  Richard S. Sutton,et al.  Goal Seeking Components for Adaptive Intelligence: An Initial Assessment. , 1981 .

[4]  Peter J. Huber,et al.  Robust Statistics , 2005, Wiley Series in Probability and Statistics.

[5]  Andrej Pázman,et al.  Foundations of Optimum Experimental Design , 1986 .

[6]  Alberto Elfes,et al.  Sonar-based real-world mapping and navigation , 1987, IEEE J. Robotics Autom..

[7]  R. Bajcsy.  Active perception , 1988, Proc. IEEE.

[8]  Alex Pentland,et al.  Good vibrations: modal dynamics for graphics and animation , 1989, SIGGRAPH.

[9]  Alberto Elfes,et al.  Occupancy grids: a probabilistic framework for robot perception and navigation , 1989 .

[10]  Sebastian Thrun,et al.  Active Exploration in Dynamic Environments , 1991, NIPS.

[11]  Alex Pentland,et al.  Recovery of Nonrigid Motion and Structure , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[12]  Ingemar J. Cox,et al.  Dynamic Map Building for an Autonomous Mobile Robot , 1992 .

[13]  Jarek Rossignac,et al.  Solid modeling , 1994, IEEE Computer Graphics and Applications.

[14]  Jami J. Shah,et al.  Parametric and Feature-Based CAD/CAM: Concepts, Techniques, and Applications , 1995 .

[15]  J. Mendel.  Lessons in Estimation Theory for Signal Processing, Communications, and Control , 1995 .

[16]  Hugh F. Durrant-Whyte,et al.  An Autonomous Guided Vehicle for Cargo Handling Applications , 1995, ISER.

[17]  Marc Levoy,et al.  A volumetric method for building complex models from range images , 1996, SIGGRAPH.

[18]  Evangelos E. Milios,et al.  Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.

[19]  M. Carter.  Computer graphics: Principles and practice , 1997 .

[20]  Thomas Ertl,et al.  Computer Graphics - Principles and Practice, 3rd Edition , 2014 .

[21]  Brian Wyvill,et al.  Introduction to Implicit Surfaces , 1997 .

[22]  Brian Yamauchi,et al.  A frontier-based approach for autonomous exploration , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[23]  Leslie Pack Kaelbling,et al.  Planning and Acting in Partially Observable Stochastic Domains , 1998, Artif. Intell..

[24]  Sebastian Thrun,et al.  Exploration in active learning , 1998 .

[25]  Andrew W. Fitzgibbon,et al.  Bundle Adjustment - A Modern Synthesis , 1999, Workshop on Vision Algorithms.

[26]  Kurt Konolige,et al.  Incremental mapping of large cyclic environments , 1999, Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375).

[27]  Michal Irani,et al.  All About Direct Methods , 1999 .

[28]  John J. Leonard,et al.  Adaptive Mobile Robot Navigation and Mapping , 1999, Int. J. Robotics Res..

[29]  M. Irani,et al.  About Direct Methods , 1999, Workshop on Vision Algorithms.

[30]  John J. Leonard,et al.  Simultaneous stochastic mapping and localization , 1999 .

[31]  Henning Biermann,et al.  Recovering non-rigid 3D shape from image streams , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[32]  Brendan J. Frey,et al.  Factor graphs and the sum-product algorithm , 2001, IEEE Trans. Inf. Theory.

[33]  Venu Madhav Govindu,et al.  Combining two-view constraints for motion estimation , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[34]  Richard K. Beatson,et al.  Reconstruction and representation of 3D objects with radial basis functions , 2001, SIGGRAPH.

[35]  Juan D. Tardós,et al.  Data association in stochastic mapping using the joint compatibility test , 2001, IEEE Trans. Robotics Autom..

[36]  Hugh F. Durrant-Whyte,et al.  A solution to the simultaneous localization and map building (SLAM) problem , 2001, IEEE Trans. Robotics Autom..

[37]  Lino Marques,et al.  Olfaction-based mobile robot navigation , 2002 .

[38]  John J. Leonard,et al.  Robust Mapping and Localization in Indoor Environments Using Sonar Data , 2002, Int. J. Robotics Res..

[39]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.

[40]  Vadim Shapiro,et al.  Solid Modeling , 2002, Handbook of Computer Aided Geometric Design.

[41]  Alexei Makarenko,et al.  Information based adaptive robotic exploration , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[42]  Alexei Makarenko,et al.  An experiment in integrated exploration , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  John J. Leonard,et al.  Explore and return: experimental validation of real-time concurrent mapping and localization , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[44]  Yiannis Aloimonos,et al.  Polydioptric camera design and 3D motion estimation , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[45]  Andrew Zisserman,et al.  Video Google: a text retrieval approach to object matching in videos , 2003, Proceedings Ninth IEEE International Conference on Computer Vision.

[46]  Stefano Soatto,et al.  A semi-direct approach to structure from motion , 2003, The Visual Computer.

[47]  Michael Bosse,et al.  Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework , 2004, Int. J. Robotics Res..

[48]  James R. Bergen,et al.  Visual odometry , 2004, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004..

[49]  B. Ripley,et al.  Robust Statistics , 2018, Encyclopedia of Mathematical Geosciences.

[50]  James F. O'Brien,et al.  Interpolating and approximating implicit surfaces from polygon soup , 2004, SIGGRAPH Courses.

[51]  Roland Siegwart,et al.  A state-of-the-art 3D sensor for robot navigation , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[52]  David J. C. MacKay,et al.  Information Theory, Inference, and Learning Algorithms , 2004, IEEE Transactions on Information Theory.

[53]  Kurt Konolige,et al.  Distributed Multirobot Exploration and Mapping , 2005, Proceedings of the IEEE.

[54]  Yuhong Yang,et al.  Information Theory, Inference, and Learning Algorithms , 2005 .

[55]  Edwin Olson,et al.  Single-Cluster Spectral Graph Partitioning for Robotics Applications , 2005, Robotics: Science and Systems.

[56]  Tom Duckett,et al.  A multilevel relaxation algorithm for simultaneous localization and mapping , 2005, IEEE Transactions on Robotics.

[57]  P. Hanrahan,et al.  Light Field Photography with a Hand-held Plenoptic Camera , 2005 .

[58]  Juan D. Tardós,et al.  Hierarchical SLAM: real-time accurate mapping of large environments , 2005, IEEE Transactions on Robotics.

[59]  Wolfram Burgard,et al.  Coordinated multi-robot exploration , 2005, IEEE Transactions on Robotics.

[60]  Wolfram Burgard,et al.  Information Gain-based Exploration Using Rao-Blackwellized Particle Filters , 2005, Robotics: Science and Systems.

[61]  Edwin Olson,et al.  Fast iterative alignment of pose graphs with poor initial estimates , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[62]  Gamini Dissanayake,et al.  Planning under uncertainty using model predictive control for information gathering , 2006, Robotics Auton. Syst..

[63]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

[64]  Udo Frese,et al.  A Discussion of Simultaneous Localization and Mapping , 2006, Auton. Robots.

[65]  Hugh Durrant-Whyte,et al.  Simultaneous Localisation and Mapping ( SLAM ) : Part I The Essential Algorithms , 2006 .

[66]  Hanumant Singh,et al.  Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters , 2006, Int. J. Robotics Res..

[67]  T. Delbruck,et al.  A 128 128 120 dB 15 s Latency Asynchronous Temporal Contrast Vision Sensor , 2006 .

[68]  Paul Newman,et al.  Loop closure detection in SLAM by combining visual and spatial appearance , 2006, Robotics Auton. Syst..

[69]  Sebastian Thrun,et al.  The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures , 2006, Int. J. Robotics Res..

[70]  David Nistér,et al.  Scalable Recognition with a Vocabulary Tree , 2006, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'06).

[71]  Javier Civera,et al.  Unified Inverse Depth Parametrization for Monocular SLAM , 2006, Robotics: Science and Systems.

[72]  Gamini Dissanayake,et al.  Active SLAM using Model Predictive Control and Attractor based Exploration , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[73]  Frank Dellaert,et al.  Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing , 2006, Int. J. Robotics Res..

[74]  Hugh Durrant-Whyte,et al.  Simultaneous localization and mapping (SLAM): part II , 2006 .

[75]  Wolfram Burgard,et al.  A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent , 2007, Robotics: Science and Systems.

[76]  Olivier Stasse,et al.  MonoSLAM: Real-Time Single Camera SLAM , 2007, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[77]  G. Klein,et al.  Parallel Tracking and Mapping for Small AR Workspaces , 2007, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.

[78]  Larry H. Matthies,et al.  Two years of Visual Odometry on the Mars Exploration Rovers , 2007, J. Field Robotics.

[79]  Tomás Pajdla,et al.  Robust Rotation and Translation Estimation in Multiview Reconstruction , 2007, 2007 IEEE Conference on Computer Vision and Pattern Recognition.

[80]  Henrik I. Christensen,et al.  Graphical SLAM for Outdoor Applications , 2007, J. Field Robotics.

[81]  David Wettergreen,et al.  Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels , 2007, J. Field Robotics.

[82]  Neil D. Lawrence,et al.  WiFi-SLAM Using Gaussian Process Latent Variable Models , 2007, IJCAI.

[83]  Frank Dellaert,et al.  Tectonic SAM: Exact, Out-of-Core, Submap-Based SLAM , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[84]  David W. Murray,et al.  Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[85]  Horst Bischof,et al.  A Globally Optimal Algorithm for Robust TV-L1 Range Image Integration , 2007, 2007 IEEE 11th International Conference on Computer Vision.

[86]  Stergios I. Roumeliotis,et al.  A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[87]  Ian D. Reid,et al.  Simultaneous Localisation and Mapping in Dynamic Environments (SLAMIDE) with Reversible Data Associa , 2007, Robotics: Science and Systems.

[88]  Wolfram Burgard,et al.  Supervised semantic labeling of places using information extracted from sensor data , 2007, Robotics Auton. Syst..

[89]  Hugh F. Durrant-Whyte,et al.  Simultaneous Localization, Mapping and Moving Object Tracking , 2007, Int. J. Robotics Res..

[90]  Javier González,et al.  A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao—Blackwellized Particle Filters , 2008, Int. J. Robotics Res..

[91]  Sebastian Thrun,et al.  Simultaneous Localization and Mapping , 2008, Robotics and Cognitive Approaches to Spatial Mapping.

[92]  Daniel Matolin,et al.  An asynchronous time-based image sensor , 2008, 2008 IEEE International Symposium on Circuits and Systems.

[93]  Frank Dellaert,et al.  Incremental smoothing and mapping , 2008 .

[94]  Stefano Soatto,et al.  Wide-Sense Estimation on the Special Orthogonal Group , 2008, Commun. Inf. Syst..

[95]  Brian D. O. Anderson,et al.  On frame and orientation localization for relative sensing networks , 2008, 2008 47th IEEE Conference on Decision and Control.

[96]  Tobi Delbrück,et al.  A 128$\times$ 128 120 dB 15 $\mu$s Latency Asynchronous Temporal Contrast Vision Sensor , 2008, IEEE Journal of Solid-State Circuits.

[97]  Frank Dellaert,et al.  iSAM: Incremental Smoothing and Mapping , 2008, IEEE Transactions on Robotics.

[98]  Aaron Hertzmann,et al.  Nonrigid Structure-from-Motion: Estimating Shape and Motion with Hierarchical Priors , 2008, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[99]  Wolfram Burgard,et al.  Simultaneous Localisation and Mapping in Dynamic Environments (SLAMIDE) with Reversible Data Association , 2008 .

[100]  Jonas Nygårds,et al.  C-SAM: Multi-Robot SLAM using square root information smoothing , 2008, 2008 IEEE International Conference on Robotics and Automation.

[101]  Joaquim Salvi,et al.  The SLAM problem: a survey , 2008, CCIA.

[102]  Paul Newman,et al.  FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance , 2008, Int. J. Robotics Res..

[103]  Andrew J. Davison,et al.  Guest Editorial Special Issue on Visual SLAM , 2008 .

[104]  Ian D. Reid,et al.  Adaptive relative bundle adjustment , 2009, Robotics: Science and Systems.

[105]  Andreas Nchter.  3D Robotic Mapping: The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom , 2009 .

[106]  Cyrill Stachniss,et al.  Robotic Mapping and Exploration , 2009, Springer Tracts in Advanced Robotics.

[107]  Barbara Caputo,et al.  COLD: The CoSy Localization Database , 2009, Int. J. Robotics Res..

[108]  David Wettergreen,et al.  Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models , 2009, FSR.

[109]  Hailin Jin,et al.  Light field video stabilization , 2009, 2009 IEEE 12th International Conference on Computer Vision.

[110]  Michael Bosse,et al.  Continuous 3D scan-matching with a spinning 2D laser , 2009, 2009 IEEE International Conference on Robotics and Automation.

[111]  Tom Duckett,et al.  Experimental Analysis of Sample-Based Maps for Long-Term SLAM , 2009, Int. J. Robotics Res..

[112]  Andreas Nüchter,et al.  3D Robotic Mapping - The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom , 2009, Springer Tracts in Advanced Robotics.

[113]  Tobi Delbrück,et al.  A pencil balancing robot using a pair of AER dynamic vision sensors , 2009, 2009 IEEE International Symposium on Circuits and Systems.

[114]  Winston Churchill,et al.  The New College Vision and Laser Data Set , 2009, Int. J. Robotics Res..

[115]  Luc Van Gool,et al.  The Pascal Visual Object Classes (VOC) Challenge , 2010, International Journal of Computer Vision.

[116]  Wolfram Burgard,et al.  Nonlinear Constraint Network Optimization for Efficient Map Learning , 2009, IEEE Transactions on Intelligent Transportation Systems.

[117]  Michael Bosse,et al.  Keypoint design and evaluation for place recognition in 2D lidar maps , 2009, Robotics Auton. Syst..

[118]  Nando de Freitas,et al.  A Bayesian exploration-exploitation approach for optimal online sensing and planning with a visually guided mobile robot , 2009, Auton. Robots.

[119]  Grzegorz Cielniak,et al.  An Adaptive Spherical View Representation for Navigation in Changing Environments , 2009, ECMR.

[120]  Stergios I. Roumeliotis,et al.  Distributed Maximum A Posteriori Estimation for Multi-robot Cooperative Localization , 2009 .

[121]  Paul Newman,et al.  Highly scalable appearance-only SLAM - FAB-MAP 2.0 , 2009, Robotics: Science and Systems.

[122]  Levent Tunçel,et al.  Optimization algorithms on matrix manifolds , 2009, Math. Comput..

[123]  Roland Siegwart,et al.  Improved appearance-based matching in similar and dynamic environments using a Vocabulary tree , 2010, 2010 IEEE International Conference on Robotics and Automation.

[124]  Luke Fletcher,et al.  A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge , 2010, Int. J. Robotics Res..

[125]  Michael Warren,et al.  Unaided stereo vision based pose estimation , 2010, ICRA 2010.

[126]  Udo Frese,et al.  Interview: Is SLAM Solved? , 2010, KI - Künstliche Intelligenz.

[127]  Ian D. Reid,et al.  A hybrid SLAM representation for dynamic marine environments , 2010, 2010 IEEE International Conference on Robotics and Automation.

[128]  Wolfram Burgard,et al.  A Tutorial on Graph-Based SLAM , 2010, IEEE Intelligent Transportation Systems Magazine.

[129]  Gamini Dissanayake,et al.  How far is SLAM from a linear least squares problem? , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[130]  Barbara Caputo,et al.  Multi-modal Semantic Place Classification , 2010, Int. J. Robotics Res..

[131]  Vincent Lepetit,et al.  View-based Maps , 2010, Int. J. Robotics Res..

[132]  Le Song,et al.  Hilbert Space Embeddings of Hidden Markov Models , 2010, ICML.

[133]  Jingjing Du,et al.  An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[134]  Dieter Fox,et al.  RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments , 2010, ISER.

[135]  Cyrill Stachniss,et al.  Hierarchical optimization on manifolds for online 2D and 3D mapping , 2010, 2010 IEEE International Conference on Robotics and Automation.

[136]  Richard Szeliski,et al.  Bundle Adjustment in the Large , 2010, ECCV.

[137]  Frank Dellaert,et al.  Multi-level submap based SLAM using nested dissection , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[138]  Juha Röning,et al.  Simultaneous localization and mapping using ambient magnetic field , 2010, 2010 IEEE Conference on Multisensor Fusion and Integration.

[139]  Luke Fletcher,et al.  Multiple relative pose graphs for robust cooperative mapping , 2010, 2010 IEEE International Conference on Robotics and Automation.

[140]  Juan Andrade-Cetto,et al.  Information-Based Compact Pose SLAM , 2010, IEEE Transactions on Robotics.

[141]  Frank Dellaert,et al.  Subgraph-preconditioned conjugate gradients for large scale SLAM , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[142]  Gordon Wyeth,et al.  FAB-MAP + RatSLAM: Appearance-based SLAM for multiple times of day , 2010, 2010 IEEE International Conference on Robotics and Automation.

[143]  Kai Oliver Arras,et al.  FLIRT - Interest regions for 2D range data , 2010, 2010 IEEE International Conference on Robotics and Automation.

[144]  Frank Dellaert,et al.  DDF-SAM: Fully distributed SLAM using Constrained Factor Graphs , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[145]  Lég és űrtechnika.  Wright-Patterson Air Force Base , 2010 .

[146]  Dieter Fox,et al.  Object Recognition in 3D Point Clouds Using Web Data and Domain Adaptation , 2010, Int. J. Robotics Res..

[147]  Frank Dellaert,et al.  3D reconstruction of underwater structures , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[148]  Liam Paull,et al.  Multiple robot simultaneous localization and mapping , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[149]  Cyrill Stachniss,et al.  Efficient information-theoretic graph pruning for graph-based SLAM with laser range finders , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[150]  Keith Yu Kit Leung,et al.  The UTIAS multi-robot cooperative localization and mapping dataset , 2011, Int. J. Robotics Res..

[151]  Matthew Cook,et al.  Interacting maps for fast visual interpretation , 2011, The 2011 International Joint Conference on Neural Networks.

[152]  Wolfram Burgard,et al.  G2o: A general framework for graph optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.

[153]  Dinesh Manocha,et al.  Model Synthesis: A General Procedural Modeling Algorithm , 2011, IEEE Transactions on Visualization and Computer Graphics.

[154]  Arunabha Bagchi,et al.  A theoretical look at information-driven sensor management criteria , 2011, 14th International Conference on Information Fusion.

[155]  Hugh F. Durrant-Whyte,et al.  Decentralised cooperative localisation for heterogeneous teams of mobile robots , 2011, 2011 IEEE International Conference on Robotics and Automation.

[156]  Andreas Krause,et al.  Adaptive Submodularity: Theory and Applications in Active Learning and Stochastic Optimization , 2010, J. Artif. Intell. Res..

[157]  Basilio Bona,et al.  A Linear Approximation for Graph-based Simultaneous Localization and Mapping , 2011, Robotics: Science and Systems.

[158]  Friedrich Fraundorfer,et al.  Visual Odometry Part I: The First 30 Years and Fundamentals , 2022 .

[159]  Kurt Konolige,et al.  Double window optimisation for constant time visual SLAM , 2011, 2011 International Conference on Computer Vision.

[160]  Ian D. Reid,et al.  Manhattan scene understanding using monocular, stereo, and 3D features , 2011, 2011 International Conference on Computer Vision.

[161]  Ryad Benosman,et al.  Asynchronous Event-Based Hebbian Epipolar Geometry , 2011, IEEE Transactions on Neural Networks.

[162]  Gamini Dissanayake,et al.  Simultaneous Localization and Mapping - Exactly Sparse Information Filters , 2011, New Frontiers in Robotics.

[163]  Andrew J. Davison,et al.  DTAM: Dense tracking and mapping in real-time , 2011, 2011 International Conference on Computer Vision.

[164]  Ryan M. Eustice,et al.  Ford Campus vision and lidar data set , 2011, Int. J. Robotics Res..

[165]  Javier Civera,et al.  Towards semantic SLAM using a monocular camera , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[166]  A. Singer.  Angular Synchronization by Eigenvectors and Semidefinite Programming. , 2009, Applied and computational harmonic analysis.

[167]  Stefano Soatto,et al.  Steps Towards a Theory of Visual Information: Active Perception, Signal-to-Symbol Conversion and the Interplay Between Sensing and Control , 2011, ArXiv.

[168]  Stergios I. Roumeliotis,et al.  An observability-constrained sliding window filter for SLAM , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[169]  Charles E. Thorpe,et al.  The annotated laser data set for navigation in urban areas , 2011, Int. J. Robotics Res..

[170]  Giuseppe Carlo Calafiore,et al.  Multi-agent localization from noisy relative pose measurements , 2011, 2011 IEEE International Conference on Robotics and Automation.

[171]  Alfred O. Hero,et al.  Sensor Management: Past, Present, and Future , 2011, IEEE Sensors Journal.

[172]  Andrew W. Fitzgibbon,et al.  KinectFusion: Real-time dense surface mapping and tracking , 2011, 2011 10th IEEE International Symposium on Mixed and Augmented Reality.

[173]  Gamini Dissanayake,et al.  A review of recent developments in Simultaneous Localization and Mapping , 2011, 2011 6th International Conference on Industrial and Information Systems.

[174]  Yoel Shkolnisky,et al.  Three-Dimensional Structure Determination from Common Lines in Cryo-EM by Eigenvectors and Semidefinite Programming , 2011, SIAM J. Imaging Sci..

[175]  Patric Jensfelt,et al.  Large-scale semantic mapping and reasoning with heterogeneous modalities , 2012, 2012 IEEE International Conference on Robotics and Automation.

[176]  Ron Alterovitz,et al.  Motion planning under uncertainty using iterative local optimization in belief space , 2012, Int. J. Robotics Res..

[177]  Frank Dellaert,et al.  iSAM2: Incremental smoothing and mapping using the Bayes tree , 2012, Int. J. Robotics Res..

[178]  Jana Kosecka,et al.  Semantic parsing of street scenes from video , 2012, Int. J. Robotics Res..

[179]  Yasir Latif,et al.  Fast minimum uncertainty search on a graph map representation , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[180]  Dejan Pangercic,et al.  Semantic Object Maps for robotic housework - representation, acquisition and use , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[181]  Gordon Wyeth,et al.  SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights , 2012, 2012 IEEE International Conference on Robotics and Automation.

[182]  Marc Pollefeys,et al.  Discovering and exploiting 3D symmetries in structure from motion , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[183]  Dimitrios G. Kottas,et al.  On the Consistency of Vision-Aided Inertial Navigation , 2012, ISER.

[184]  Hu He,et al.  Large Scale Monocular Vision-Only Mapping from a Fixed-Wing sUAS , 2012, FSR.

[185]  René Vidal,et al.  Intrinsic consensus on SO(3) with almost-global convergence , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[186]  Wolfram Burgard,et al.  A benchmark for the evaluation of RGB-D SLAM systems , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[187]  Amit Singer,et al.  Exact and Stable Recovery of Rotations for Robust Synchronization , 2012, ArXiv.

[188]  Andrew J. Davison,et al.  Real-time surface light-field capture for augmentation of planar specular surfaces , 2012, 2012 IEEE International Symposium on Mixed and Augmented Reality (ISMAR).

[189]  Tom E. Bishop,et al.  The Light Field Camera: Extended Depth of Field, Aliasing, and Superresolution , 2012, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[190]  Jaime Valls Miró,et al.  Active Pose SLAM , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[191]  Hauke Strasdat,et al.  Visual SLAM: Why filter? , 2012, Image Vis. Comput..

[192]  Silvio Savarese,et al.  Semantic structure from motion with points, regions, and objects , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[193]  Junzhou Huang,et al.  Towards robust and effective shape modeling: Sparse shape composition , 2012, Medical Image Anal..

[194]  Heng Wang,et al.  On the Structure of Nonlinearities in Pose Graph SLAM , 2012, Robotics: Science and Systems.

[195]  Chiara Bartolozzi,et al.  Asynchronous frameless event-based optical flow , 2012, Neural Networks.

[196]  Dorian Gálvez-López,et al.  Bags of Binary Words for Fast Place Recognition in Image Sequences , 2012, IEEE Transactions on Robotics.

[197]  John J. Leonard,et al.  Kintinuous: Spatially Extended KinectFusion , 2012, AAAI 2012.

[198]  Heng Wang,et al.  On the number of local minima to the point feature based SLAM problem , 2012, 2012 IEEE International Conference on Robotics and Automation.

[199]  F. Fraundorfer,et al.  Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications , 2012, IEEE Robotics & Automation Magazine.

[200]  Mathew H. Evans,et al.  Tactile SLAM with a biomimetic whiskered robot , 2012, 2012 IEEE International Conference on Robotics and Automation.

[201]  F. Dellaert.  Factor Graphs and GTSAM: A Hands-on Introduction , 2012 .

[202]  Ian D. Reid,et al.  On the comparison of uncertainty criteria for active SLAM , 2012, 2012 IEEE International Conference on Robotics and Automation.

[203]  Roland Siegwart,et al.  Challenging data sets for point cloud registration algorithms , 2012, Int. J. Robotics Res..

[204]  Johan Fredriksson,et al.  Simultaneous Multiple Rotation Averaging Using Lagrangian Duality , 2012, ACCV.

[205]  John J. Leonard,et al.  Dynamic pose graph SLAM: Long-term mapping in low dynamic environments , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[206]  Michael Bosse,et al.  Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping , 2012, IEEE Transactions on Robotics.

[207]  Niko Sünderhauf,et al.  Towards a robust back-end for pose graph SLAM , 2012, 2012 IEEE International Conference on Robotics and Automation.

[208]  Paul Timothy Furgale,et al.  Continuous-time batch estimation using temporal basis functions , 2012, 2012 IEEE International Conference on Robotics and Automation.

[209]  Carlos Sagüés,et al.  Distributed Consensus on Robot Networks for Dynamically Merging Feature-Based Maps , 2012, IEEE Transactions on Robotics.

[210]  Heng Wang,et al.  A convex optimization based approach for pose SLAM problems , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[211]  Hongdong Li,et al.  Rotation Averaging , 2013, International Journal of Computer Vision.

[212]  Jörg Conradt,et al.  Event-based particle filtering for robot self-localization , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[213]  Giuseppe Carlo Calafiore,et al.  Distributed centroid estimation from noisy relative measurements , 2012, Syst. Control. Lett..

[214]  Yasir Latif,et al.  Robust Loop Closing Over Time , 2012, Robotics: Science and Systems.

[215]  Frank Dellaert,et al.  DDF-SAM 2.0: Consistent distributed smoothing and mapping , 2013, 2013 IEEE International Conference on Robotics and Automation.

[216]  Yasir Latif,et al.  Robust loop closing over time for pose graph SLAM , 2013, Int. J. Robotics Res..

[217]  Ryan M. Eustice,et al.  Perception-driven navigation: Active visual SLAM for robotic area coverage , 2013, 2013 IEEE International Conference on Robotics and Automation.

[218]  Edwin Olson,et al.  Inference on networks of mixtures for robust robot mapping , 2013, Int. J. Robotics Res..

[219]  John J. Leonard,et al.  Real-time 6-DOF multi-session visual SLAM over large-scale environments , 2013, Robotics Auton. Syst..

[220]  Jörg Conradt,et al.  Simultaneous Localization and Mapping for Event-Based Vision Systems , 2013, ICVS.

[221]  Maria Teresa Lazaro,et al.  Multi-robot SLAM using condensed measurements , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[222]  Winston Churchill,et al.  Experience-based navigation for long-term localisation , 2013, Int. J. Robotics Res..

[223]  Andreas Geiger,et al.  Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[224]  John J. Leonard,et al.  Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case , 2013, 2013 IEEE International Conference on Robotics and Automation.

[225]  Toby P. Breckon,et al.  Cross-spectral visual simultaneous localization and mapping (SLAM) with sensor handover , 2013, Robotics Auton. Syst..

[226]  Marc Pollefeys,et al.  Joint 3D Scene Reconstruction and Class Segmentation , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[227]  Paul H. J. Kelly,et al.  SLAM++: Simultaneous Localisation and Mapping at the Level of Objects , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[228]  Lourdes Agapito,et al.  Dense Variational Reconstruction of Non-rigid Surfaces from Monocular Video , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[229]  Gamini Dissanayake,et al.  Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[230]  Ryad Benosman,et al.  Event-based 3D reconstruction from neuromorphic retinas , 2013, Neural Networks.

[231]  Francesco Bullo,et al.  On frame and orientation localization for relative sensing networks , 2013, Autom..

[232]  Andreas Geiger,et al.  Vision meets robotics: The KITTI dataset , 2013, Int. J. Robotics Res..

[233]  John J. Leonard,et al.  Temporally scalable visual SLAM using a reduced pose graph , 2013, 2013 IEEE International Conference on Robotics and Automation.

[234]  Antonio Torralba,et al.  Parsing IKEA Objects: Fine Pose Estimation , 2013, 2013 IEEE International Conference on Computer Vision.

[235]  Prabir Barooah,et al.  Error growth in position estimation from noisy relative pose measurements , 2013, Robotics Auton. Syst..

[236]  Ryan M. Eustice,et al.  Generic factor-based node marginalization and edge sparsification for pose-graph SLAM , 2013, 2013 IEEE International Conference on Robotics and Automation.

[237]  Luca Carlone,et al.  A convergence analysis for pose graph optimization via Gauss-Newton methods , 2013, 2013 IEEE International Conference on Robotics and Automation.

[238]  Stefan B. Williams,et al.  Light field image denoising using a linear 4D frequency-hyperfan all-in-focus filter , 2013, Electronic Imaging.

[239]  Prabir Barooah,et al.  Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization , 2013, 2013 IEEE International Conference on Robotics and Automation.

[240]  Laurent Kneip,et al.  Collaborative monocular SLAM with multiple Micro Aerial Vehicles , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[241]  Pavel Zemcík,et al.  Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics , 2013, Robotics: Science and Systems.

[242]  Alonzo Kelly,et al.  Mobile Robotics: Mathematics, Models, and Methods , 2013 .

[243]  Wolfram Burgard,et al.  Robust map optimization using dynamic covariance scaling , 2013, 2013 IEEE International Conference on Robotics and Automation.

[244]  Niko Sünderhauf,et al.  Appearance change prediction for long-term navigation across seasons , 2013, 2013 European Conference on Mobile Robots.

[245]  Berthold Bäuml,et al.  On task-oriented criteria for configurations selection in robot calibration , 2013, 2013 IEEE International Conference on Robotics and Automation.

[246]  Matthias Nießner,et al.  Real-time 3D reconstruction at scale using voxel hashing , 2013, ACM Trans. Graph..

[247]  Ian D. Reid,et al.  Dense Reconstruction Using 3D Object Shape Priors , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[248]  John J. Leonard,et al.  Consistent sparsification for graph optimization , 2013, 2013 European Conference on Mobile Robots.

[249]  Davide Scaramuzza,et al.  Air-ground localization and map augmentation using monocular dense reconstruction , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[250]  Ryad Benosman,et al.  Plenoptic cameras in real-time robotics , 2013, Int. J. Robotics Res..

[251]  Paul Timothy Furgale,et al.  Gaussian Process Gauss–Newton for non-parametric simultaneous localization and mapping , 2013, Int. J. Robotics Res..

[252]  Ryan M. Eustice,et al.  Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency , 2013, IEEE Transactions on Robotics.

[253]  Wolfram Burgard,et al.  An approach to solving large-scale SLAM problems with a small memory footprint , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[254]  Davide Scaramuzza,et al.  SVO: Fast semi-direct monocular visual odometry , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[255]  Rob Fergus,et al.  Depth Map Prediction from a Single Image using a Multi-Scale Deep Network , 2014, NIPS.

[256]  Helge J. Ritter,et al.  Correcting pose estimates during tactile exploration of object shape: a neuro-robotic study , 2014, 4th International Conference on Development and Learning and on Epigenetic Robotics.

[257]  James J. Gibson,et al.  The Ecological Approach to Visual Perception: Classic Edition , 2014 .

[258]  Wolfram Burgard,et al.  Hierarchical sparse coded surface models , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[259]  Luca Carlone,et al.  From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization , 2012, IEEE Transactions on Robotics.

[260]  Frank Dellaert,et al.  Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing , 2014, Int. J. Robotics Res..

[261]  Vladimir G. Kim,et al.  Shape2Pose: human-centric shape analysis , 2014, ACM Trans. Graph..

[262]  Tobi Delbruck,et al.  A 240 × 180 130 dB 3 µs Latency Global Shutter Spatiotemporal Vision Sensor , 2014, IEEE Journal of Solid-State Circuits.

[263]  Gal A. Kaminka,et al.  Efficient frontier detection for robot exploration , 2014, Int. J. Robotics Res..

[264]  Frank Dellaert,et al.  Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[265]  Pieter Abbeel,et al.  Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation , 2014, WAFR.

[266]  Simo Särkkä,et al.  Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression , 2014, Robotics: Science and Systems.

[267]  Frank Dellaert,et al.  A hierarchical wavelet decomposition for continuous-time SLAM , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[268]  Thomas B. Schön,et al.  Learning deep dynamical models from image pixels , 2014, ArXiv.

[269]  Basilio Bona,et al.  A fast and accurate approximation for planar pose graph optimization , 2014, Int. J. Robotics Res..

[270]  Francesco Amigoni,et al.  Standard for Robot Map Data Representation for Navigation , 2014, IROS 2014.

[271]  Davide Scaramuzza,et al.  REMODE: Probabilistic, monocular dense reconstruction in real time , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[272]  Marc Hanheide,et al.  Long-term topological localisation for service robots in dynamic environments using spectral maps , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[273]  J. M. M. Montiel,et al.  Visual SLAM for Handheld Monocular Endoscope , 2014, IEEE Transactions on Medical Imaging.

[274]  Dimitrios G. Kottas,et al.  Camera-IMU-based localization: Observability analysis and consistency improvement , 2014, Int. J. Robotics Res..

[275]  Michael Suppa,et al.  Stereo-vision based obstacle mapping for indoor/outdoor SLAM , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[276]  Davide Scaramuzza,et al.  Low-latency event-based visual odometry , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[277]  Basilio Bona,et al.  Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence , 2014, J. Intell. Robotic Syst..

[278]  James M. Rehg,et al.  Joint Semantic Segmentation and 3D Reconstruction from Monocular Video , 2014, ECCV.

[279]  Daniel Cremers,et al.  LSD-SLAM: Large-Scale Direct Monocular SLAM , 2014, ECCV.

[280]  Andrew J. Davison,et al.  A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[281]  Javier Civera,et al.  C2TAM: A Cloud framework for cooperative tracking and mapping , 2014, Robotics Auton. Syst..

[282]  Ryan M. Eustice,et al.  Visual localization within LIDAR maps for automated urban driving , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[283]  Ryad Benosman,et al.  Simultaneous Mosaicing and Tracking with an Event Camera , 2014, BMVC.

[284]  Stefano Soatto,et al.  Visual Representations: Defining Properties and Deep Approximations , 2014, ICLR 2016.

[285]  Daniel Cremers,et al.  Event-based 3D SLAM with a depth-augmented dynamic vision sensor , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[286]  Dieter Fox,et al.  Unsupervised feature learning for 3D scene labeling , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[287]  Davide Scaramuzza,et al.  Event-based, 6-DOF pose tracking for high-speed maneuvers , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[288]  Ashutosh Saxena,et al.  Hierarchical Semantic Labeling for Task-Relevant RGB-D Perception , 2014, Robotics: Science and Systems.

[289]  Frank Dellaert,et al.  Structural Symmetries from Motion for Scene Reconstruction and Understanding , 2015, BMVC.

[290]  Ian D. Reid,et al.  A fast, modular scene understanding system using context-aware object detection , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[291]  Andrew W. Fitzgibbon,et al.  Exploiting uncertainty in regression forests for accurate camera relocalization , 2015, 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[292]  W. Burgard,et al.  Monte Carlo localization in hand-drawn maps , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[293]  Gabe Sibley,et al.  A Spline-Based Trajectory Representation for Sensor Fusion and Rolling Shutter Cameras , 2015, International Journal of Computer Vision.

[294]  Juan Andrade-Cetto,et al.  Potential information fields for mobile robot exploration , 2015, Robotics Auton. Syst..

[295]  Vijay Kumar,et al.  Autonomous robotic exploration using occupancy grid maps and graph SLAM based on Shannon and Rényi Entropy , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[296]  Incremental Sparse GP Regression for Continuous-Time Trajectory Estimation and Mapping , 2015, ISRR.

[297]  G. Crooks.  On Measures of Entropy and Information , 2015 .

[298]  Ryad Benosman,et al.  Asynchronous event-based corner detection and matching , 2015, Neural Networks.

[299]  Yasir Latif,et al.  On the monotonicity of optimality criteria during exploration in active SLAM , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[300]  Michael Kaess,et al.  Simultaneous localization and mapping with infinite planes , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[301]  Javier Civera,et al.  Incorporating scene priors to dense monocular mapping , 2015, Auton. Robots.

[302]  Siddhartha S. Srinivasa,et al.  Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially Hashed Signed Distance Fields , 2015, Robotics: Science and Systems.

[303]  John J. Leonard,et al.  Monocular SLAM Supported Object Recognition , 2015, Robotics: Science and Systems.

[304]  Guosheng Lin,et al.  Deep convolutional neural fields for depth estimation from a single image , 2014, 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[305]  Simo Särkkä,et al.  Batch nonlinear continuous-time trajectory estimation as exactly sparse Gaussian process regression , 2014, Autonomous Robots.

[306]  Nathan Michael,et al.  Distributed real-time cooperative localization and mapping using an uncertainty-aware expectation maximization approach , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[307]  Sunando Sengupta,et al.  Semantic octree: Unifying recognition, reconstruction and representation via an octree constrained higher order MRF , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[308]  Frank Dellaert,et al.  Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments , 2015, Int. J. Robotics Res..

[309]  Kuan-Ting Yu,et al.  Shape and pose recovery from planar pushing , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[310]  Emilio Frazzoli,et al.  A Power-Performance Approach to Comparing Sensor Families, with application to comparing neuromorphic to traditional vision sensors , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[311]  Rob Fergus,et al.  Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-scale Convolutional Architecture , 2014, 2015 IEEE International Conference on Computer Vision (ICCV).

[312]  J. M. M. Montiel,et al.  ORB-SLAM: A Versatile and Accurate Monocular SLAM System , 2015, IEEE Transactions on Robotics.

[313]  Kostas Daniilidis,et al.  Grasping surfaces of revolution: Simultaneous pose and shape recovery from two views , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[314]  Michael Bosse,et al.  Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization , 2015, Robotics: Science and Systems.

[315]  Stefan Leutenegger,et al.  ElasticFusion: Dense SLAM Without A Pose Graph , 2015, Robotics: Science and Systems.

[316]  Giuseppe Carlo Calafiore,et al.  Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[317]  Michael S. Bernstein,et al.  Image retrieval using scene graphs , 2015, 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[318]  Roland Siegwart,et al.  Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV , 2015, FSR.

[319]  Frank Dellaert,et al.  Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[320]  Emilio Frazzoli,et al.  Low-latency heading feedback control with neuromorphic vision sensors using efficient approximated incremental inference , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[321]  Uri Shalit,et al.  Deep Kalman Filters , 2015, ArXiv.

[322]  Patrick Pérez,et al.  Incremental dense semantic stereo fusion for large-scale semantic scene reconstruction , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[323]  Mariana Luderitz Kolberg,et al.  Ouroboros: Using potential field in unexplored regions to close loops , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[324]  Dezhen Song,et al.  Visual Navigation Using Heterogeneous Landmarks and Unsupervised Geometric Constraints , 2015, IEEE Transactions on Robotics.

[325]  Roberto Cipolla,et al.  PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization , 2015, 2015 IEEE International Conference on Computer Vision (ICCV).

[326]  Gamini Dissanayake,et al.  Exploiting the Separable Structure of SLAM , 2015, Robotics: Science and Systems.

[327]  Francesco Bullo,et al.  Sensor Network Localization on the Group of Three-Dimensional Displacements , 2015, SIAM J. Control. Optim..

[328]  Roland Siegwart,et al.  Map API - scalable decentralized map building for robots , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[329]  Frank Dellaert,et al.  Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[330]  John J. Leonard,et al.  A convex relaxation for approximate global optimization in simultaneous localization and mapping , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[331]  Davide Scaramuzza,et al.  Continuous-Time Trajectory Estimation for Event-based Vision Sensors , 2015, Robotics: Science and Systems.

[332]  John J. Leonard,et al.  Communication-constrained multi-AUV cooperative SLAM , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[333]  Davide Scaramuzza,et al.  Air‐ground Matching: Appearance‐based GPS‐denied Urban Localization of Micro Aerial Vehicles , 2015, J. Field Robotics.

[334]  Dieter Fox,et al.  DynamicFusion: Reconstruction and tracking of non-rigid scenes in real-time , 2015, 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[335]  Reinhard Klette,et al.  Towards Ubiquitous Autonomous Driving: The CCSAD Dataset , 2015, CAIP.

[336]  Wolfram Burgard,et al.  Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[337]  Frank Dellaert,et al.  Duality-based verification techniques for 2D SLAM , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[338]  Michael S. Bernstein,et al.  ImageNet Large Scale Visual Recognition Challenge , 2014, International Journal of Computer Vision.

[339]  Frank Dellaert,et al.  On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation , 2015, ArXiv.

[340]  Tobi Delbrück,et al.  Design of an RGBW color VGA rolling and global shutter dynamic and active-pixel vision sensor , 2015, 2015 IEEE International Symposium on Circuits and Systems (ISCAS).

[341]  Ian D. Reid,et al.  Direct semi-dense SLAM for rolling shutter cameras , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[342]  Ian D. Reid,et al.  Multi-modal Auto-Encoders as Joint Estimators for Robotics Scene Understanding , 2016, Robotics: Science and Systems.

[343]  Stefan Leutenegger,et al.  Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera , 2016, ECCV.

[344]  Ji Zhang,et al.  On degeneracy of optimization-based state estimation problems , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[345]  Tom Duckett,et al.  Lifelong Information-Driven Exploration to Complete and Refine 4-D Spatio-Temporal Maps , 2016, IEEE Robotics and Automation Letters.

[346]  Gustavo Carneiro,et al.  Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue , 2016, ECCV.

[347]  Davide Scaramuzza,et al.  EMVS: Event-based Multi-View Stereo , 2016, BMVC.

[348]  Eitan Marder-Eppstein,et al.  Project Tango , 2016, SIGGRAPH Real-Time Live!.

[349]  Davide Scaramuzza,et al.  Low-latency visual odometry using event-based feature tracks , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[350]  Nathan Michael,et al.  Incremental Distributed Inference from Arbitrary Poses and Unknown Data Association: Using Collaborating Robots to Establish a Common Reference , 2016, IEEE Control Systems.

[351]  Francesc Moreno-Noguer,et al.  Real-time 3D reconstruction of non-rigid shapes with a single moving camera , 2016, Comput. Vis. Image Underst..

[352]  Michael Trentini,et al.  Multiple‐Robot Simultaneous Localization and Mapping: A Review , 2016, J. Field Robotics.

[353]  John J. Leonard,et al.  Towards lifelong feature-based mapping in semi-static environments , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[354]  Roland Siegwart,et al.  The EuRoC micro aerial vehicle datasets , 2016, Int. J. Robotics Res..

[355]  Peter I. Corke,et al.  Simple change detection from mobile light field cameras , 2016, Comput. Vis. Image Underst..

[356]  Peter I. Corke,et al.  Visual Place Recognition: A Survey , 2016, IEEE Transactions on Robotics.

[357]  Frank Dellaert,et al.  Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[358]  Event-based, 6-DOF Camera Tracking for High-Speed Applications , 2016, ArXiv.

[359]  Wolfram Burgard,et al.  Nonlinear factor recovery for long-term SLAM , 2016, Int. J. Robotics Res..

[360]  Stefan Leutenegger,et al.  Simultaneous Optical Flow and Intensity Estimation from an Event Camera , 2016, 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[361]  Giuseppe Carlo Calafiore,et al.  Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification , 2016, IEEE Transactions on Robotics.

[362]  Didier Stricker,et al.  CoRBS: Comprehensive RGB-D benchmark for SLAM using Kinect v2 , 2016, 2016 IEEE Winter Conference on Applications of Computer Vision (WACV).

[363]  Sebastian Ramos,et al.  The Cityscapes Dataset for Semantic Urban Scene Understanding , 2016, 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[364]  Gamini Dissanayake,et al.  A critique of current developments in simultaneous localization and mapping , 2016 .

[365]  Francesc Moreno-Noguer,et al.  Sequential Non-Rigid Structure from Motion Using Physical Priors , 2016, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[366]  R. Siegwart,et al.  Non-uniform sampling strategies for continuous correction based trajectory estimation , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[367]  Paolo Valigi,et al.  Exploring Representation Learning With CNNs for Frame-to-Frame Ego-Motion Estimation , 2016, IEEE Robotics and Automation Letters.

[368]  Cyrill Stachniss,et al.  Simultaneous Localization and Mapping , 2016, Springer Handbook of Robotics, 2nd Ed..

[369]  Frank Dellaert,et al.  On-Manifold Preintegration for Real-Time Visual--Inertial Odometry , 2015, IEEE Transactions on Robotics.

[370]  Luc Van Gool,et al.  Efficient edge-aware surface mesh reconstruction for urban scenes , 2017, Comput. Vis. Image Underst..

[371]  Davide Scaramuzza,et al.  EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time , 2017, IEEE Robotics and Automation Letters.

[372]  Michael Gassner,et al.  SVO: Semidirect Visual Odometry for Monocular and Multicamera Systems , 2017, IEEE Transactions on Robotics.