- Real-time simultaneous localisation and mapping with a single camera, Davison, ICCV 2003
- Visual Odometry, Nistér et al., CVPR 2004
- MonoSLAM: Real-Time Single Camera SLAM, Davison et al., TPAMI 2007 | code
- Parallel tracking and mapping for small AR workspaces, Klein and Murray, ISMAR 2007 | code
- Real-time stereo visual odometry for autonomous ground vehicles, Howard, IROS 2008
- StereoScan: Dense 3d reconstruction in real-time, Geiger et al., IV 2011
- DTAM: Dense tracking and mapping in real-time, Newcombe et al., ICCV 2011
- Real-Time Visual Odometry from Dense RGB-D Images, Steinbruecker et al., ICCV 2011 | code
- KinectFusion: Real-time dense surface mapping and tracking, Newcombe et al., ISMAR 2011
- Robust Odometry Estimation for RGB-D Cameras, Kerl et al., ICRA 2013 | code
- SVO: Fast semi-direct monocular visual odometry, Forster et al., ICRA 2014 | code
- LSD-SLAM: Large-Scale Direct Monocular SLAM, Engel et al., ECCV 2014 | code
- DynamicFusion: Reconstruction and tracking of non-rigid scenes in real-time, Newcombe et al., CVPR 2015
- ElasticFusion: Dense SLAM without a pose graph, Whelan et al., RSS 2015
- ORB-SLAM: a Versatile and Accurate Monocular SLAM System, Mur-Artal et al., T-RO 2015 | code
- DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks, Wang et al., ICRA 2017
- ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras, Mur-Artal et al., T-RO 2017 | code
- DSO: Direct Sparse Odometry, Engel et al., TPAMI 2017 | code
- Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction, Zhan et al., CVPR 2018
- CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM, Bloesch et al., CVPR 2018
- Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry, Yang et al., ECCV 2018
- DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes, Bescos et al., RA-L 2018 | code
- OpenVSLAM: A Versatile Visual SLAM Framework, Sumikura et al., ACM MM 2019 | code
- D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry, Yang et al., CVPR 2020
- Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping, Rosinol et al., ICRA 2020 | code
- DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features, Li et al., IROS 2020 | code
- ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM, Campos et al., arXiv 2020 | code
- Generalizing to the Open World: Deep Visual Odometry with Online Adaptation, Li et al., CVPR 2021
- Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry, Gladkova et al., ICRA 2021
- DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras, Teed and Deng, arXiv 2021 | code
- SIFT: Distinctive Image Features from Scale-Invariant Keypoints, Lowe, IJCV 2004
- SURF: Speeded Up Robust Features, Bay et al., ECCV 2006
- Faster and Better: A Machine Learning Approach to Corner Detection, Rosten et al., TPAMI 2010.
- ORB: An efficient alternative to SIFT or SURF, Rublee et al., ICCV 2011
- FLANN: Scalable Nearest Neighbor Algorithms for High Dimensional Data, Muja and Lowe, TPAMI 2014
- GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence, Bian et al., CVPR 2017
- LF-Net: Learning Local Features from Images, Ono et al., NeurIPS 2017
- SuperPoint: Self-Supervised Interest Point Detection and Description, DeTone et al., CVPR 2018 Workshop
- R2D2: Repeatable and Reliable Detector and Descriptor, Revaud et al., NeurIPS 2019
- D2-Net: A Trainable CNN for Joint Description and Detection of Local Features, Dusmanu et al., CVPR 2019
- Deep Graphical Feature Learning for the Feature Matching Problem, Zhang and Lee, ICCV 2019
- SuperGlue: Learning Feature Matching with Graph Neural Networks, Sarlin et al., CVPR 2020
- High-dimensional Convolutional Networks for Geometric Pattern Recognition, Choy et al., CVPR 2020
- LoFTR: Detector-Free Local Feature Matching with Transformers, Sun et al., CVPR 2021
- Co-Attention for Conditioned Image Matching, Wiles et al., CVPR 2021
- In defense of the eight-point algorithm, Hartley, TPAMI 1997
- An efficient solution to the five-point relative pose problem, Nistér, TPAMI 2004
- PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization, Kendall et al., ICCV 2015
- Deep Image Homography Estimation, DeTone et al., arXiv 2016
- Unsupervised Learning of Depth and Ego-Motion from Video, Zhou et al., CVPR 2017
- GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose, Yin et al., CVPR 2018
- Unsupervised Learning of Depth and Ego-Motion From Monocular Video Using 3D Geometric Constraints, Mahjourian et al., CVPR 2018
- Real-time 3D reconstruction and 6-DoF tracking with an event camera, Kim et al., ECCV 2016
- EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time, Rebecq et al., RA-L 2016
- Simultaneous Optical Flow and Intensity Estimation From an Event Camera, Bardow et al., CVPR 2016
- Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios, Vidal, RA-L 2018
- Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction, Gehrig et al., RA-L, 2021
| dataset | year | environment | carrier | camera |
|---|---|---|---|---|
| TUM RGB-D | 2012 | indoor | handheld/robot | RGB-D |
| KITTI | 2013 | outdoor | car | stereo |
| Malaga | 2014 | outdoor | car | stereo |
| ICL-NUIM | 2014 | indoor | handheld | RGB-D |
| Oxford RobotCar | 2016 | outdoor | car | stereo |
| EuRoC MAV | 2016 | indoor | MAV | stereo |
| TUM MonoVO | 2016 | in/outdoor | handheld | monocular |
| TUM VI | 2018 | in/outdoor | handhled | stereo |
- Ceres Solver, Agarwal et al., 2010
- g2o, Kümmerle et al., ICRA 2011
- GTSAM, Dellaert, 2012
- DBoW, Galvez-López and Tardos, T-RO 2012
- Pangolin, Lovegrove et al., 2010
- Multiple View Geometry, Cremers, 2014
- Multiple View Geometry in Computer Vision, Hartley and Zisserman, 2004
- Computer Vision: Algorithms and Applications, Szeliski, 2010
- 15 Years of Visual SLAM, Davison, ICCV 2015 Workshop
- Visual Odometry [Tutorial], Scaramuzza and Fraundorfer, RAM 2011
- Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age, Cadena et al., T-RO 2016
- Event-based Vision: A Survey, Gallego et al., arXiv 2019
- A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence, Chen et al., arXiv 2020.
