SLAM 相关论文阅读笔记

这个 Repo 主要用来整理自己读过的 SLAM 相关的论文以及比较感兴趣准备阅读的论文，大部分都会写一份博客对阅读过程进行整理。如果论文附有开源代码会视情况学习一下源码。

LO (Lidar Odometry)

Feature-Based

• LOAM: Lidar Odometry and Mapping in Real-time [阅读笔记] [ALOAM 原 Repo] [ALOAM 代码注释]
• LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain[原 Repo] [代码整理]

LIO (Lidar Inertial Odometry)

Optimization-Based

• LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping [阅读笔记][原 Repo][代码注释]

Kalman Filter-Based

• LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation [阅读笔记]] [原 Repo][代码整理-TODO]

Loop Clousure

• Real-Time Loop Closure in 2D LIDAR SLAM [阅读笔记]
• Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map [阅读笔记][SC-LeGO-LOAM 代码注释]

Semantics Map

• RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving[阅读笔记]

Lifelong Mapping and Localization

• LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes [阅读笔记]
• Robust and Precise Vehicle Localization based on Multi-sensor Fusion in Diverse City Scenes [阅读笔记]
• Long-term map maintenance pipeline for autonomous vehicles[阅读笔记]
• A General Framework for Lifelong Localization and Mapping in Changing Environment
• LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping
• How to Keep Hd Maps for Automated Driving Up to Date[阅读笔记]

Optimization

• The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures [阅读笔记]