Robotics Localization Mapping - jungwonkang/references GitHub Wiki

General

Real-time monocular SLAM: why filter?
Incremental smoothing vs. filtering for sensor fusion on an indoor UAV
Dense visual odometry and sensor fusion for UAV navigation, N. Valigi, Master Thesis 2014.

A tutorial on graph-based SLAM
iSAM in depth
Factor graph based incremental smoothing in inertial navigation systems
Information fusion in navigation systems via factor graph based incremental smoothing
Comparison of optimization techniques for 3D graph-based SLAM
Concurrent filtering and smoothing: a parallel architecture for real-time navigation and full smoothing
Factor graphs for robot perception
A practical introduction to pose-graph SLAM with ROS

A survey on indoor positioning technologies
Indoor aerial vehicle navigation using ultra wideband active two-way ranging
- Written by timedomain.
Comparison of SLAM algorithms with range only sensors
- EKF vs Smoothing
Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV (ICRA 2016)
Ultra-wideband-based localization for quadcopter navigation (2016)
- EKF with UWB only (without IMU)
Ultra-wideband aided fast localization and mapping system (IROS 2017)
Multi-modal mapping and localization of unmanned aerial robots based on UWB and RGB-D sensing (IROS 2017)
Graph optimization approach to localization with IMU and ultra-wideband measurements
Robust target-relative localization with ultra-wideband ranging and communication

Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions
- IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation
- On-manifold preintegration for real-time visual-inertial odometry

VINS-Mono: a robust and versatile monocular visual-inertial state estimator
- https://github.com/HKUST-Aerial-Robotics/VINS-Mono
Monocular visual-inertial SLAM: continuous preintegration and reliable initialization
Adaptive monocular visual-inertial SLAM for real-time augmented reality applications in mobile devices
Monocular visual-inertial SLAM for fixed-wing UAVs using sliding window based nonlinear optimization
Build your own visual-inertial odometry aided cost-effective and open-source autonomous drone (2017)
- https://github.com/ethz-asl/mav_dji_ros_interface
A benchmark comparison of monocular visual-inertial odometry algorithms for flying robots (ICRA 2018)
GOMSF: Graph-optimization based multi-sensor fusion for robust UAV pose estimation
- ROBIO: Robust visual inertial odometry using a direct EKF-based approach
- OKVIS: Keyframe-based visual inertial odometry using nonlinear optimization
- MSF: A robust and modular multi-sensor fusion approach applied to to MAV navigation

Real-time loop closure in 2D LIDAR SLAM
- Cartographer: https://github.com/googlecartographer
- Improving google's cartographer 3D mapping by continuous-time SLAM
- Continuous-time SLAM: improving Google’s cartographer 3D mapping
LOAM: lidar odometry and mapping in real-time

ORB-SLAM
- ORB-SLAM: a versatile and accurate monocular SLAM system (2015)
- ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras (2017)
LSD-SLAM
- https://jakobengel.github.io/
- LSD-SLAM: large-scale direct monocular SLAM (ECCV 2014)
- Large-Scale Direct SLAM with Stereo Cameras (IROS 2015)
Loosely-coupled semi-direct monocular SLAM