ResearchWork

​ My personal research work mainly on SLAM, includes Relocalization and Multi-sensor Information Fusion. If you are interested in my work, just send me an e-mail.

SLAM-Tutorial

• Visual Odometry Part I: The First 30 Years and Fundamentals
• Visual Odometry Part II: Matching, Robustness, Optimization, and Applications
• [2005] Indirect Kalman Filter for 3D Attitude Estimation A Tutorial for Quaternion Algebra

Complete SLAM-Frame

• [ICRA2018] maplab: An Open Framework for Research in Visual-inertial Mapping and Localization code
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Kalman Filter

• [2009] A First-Estimates Jacobian EKF for Improving SLAM Consistency
• [ICRA2010] Real-time monocular SLAM: Why filter?

Optimization

• [ICRA2007] Constant Time Sliding Window Filter SLAM as a Basis for Metric Visual Perception

• [ICRA2011] Motion Tracking with Fixed-lag Smoothing: Algorithm and Consistency Analysis

• iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree code

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Feature Detect & Extract

• [2009] fast approximate nearest neighbors with automatic algorithm configuration*
• [2017] Toward Geometric Deep SLAM
• [2018] SuperPoint: Self-Supervised Interest Point Detection and Description code

Localization

• [ECCV2010] Location Recognition Using Prioritized Feature Matching
• [2014] Fast Relocalisation and Loop Closing in Keyframe-Based SLAM
• [ICCV2015] Camera Pose Voting for Large-Scale Image-Based Localization
• [IROS2015] Keep it Brief: Scalable Creation of Compressed Localization Maps
• [RSS2015] Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization
• [ICRA2015] The gist of maps - Summarizing experience for lifelong localization
• [ICCV2015] Hyperpoints and Fine Vocabularies for Large-Scale Location Recognition
• [CVPR2017] Comparative Evaluation of Hand-Crafted and Learned Local Features code
• [ICRA2017] Fast-SeqSLAM: A Fast Appearance Based Place Recognition Algorithm
• [CVPR2017] Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization?
• [CVPR2018] Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions project
• [RSS2018] Lightweight Unsupervised Deep Loop Closure code
• [CVPR2019] Understanding the Limitations of CNN-based Absolute Camera Pose Regression
• [CVPR2019] From Coarse to Fine: Robust Hierarchical Localization at Large Scale code
• [ICRA2020] To Learn or Not to Learn: Visual Localization from Essential Matrices
• [CVPR2020] SuperGlue: Learning Feature Matching with Graph Neural Networks code
• [CVPR2021] Back to the Feature: Learning Robust Camera Localization from Pixels to Pose
• [CVPR2021] LoFTR: Detector-Free Local Feature Matching with Transformers code

Muti-Sensors

• [2008] A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation
• [2010] Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-Calibration
• [ICRA2020] Intermittent GPS-aided VIO: Online Initialization and Calibration

Others

• [CVPR2011] A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation