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All Projects → changhao-chen → Deep Learning Localization Mapping

changhao-chen / Deep Learning Localization Mapping

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A collection of deep learning based localization models

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deep-learninglocalizationmappingslam

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Deep Learning for Localization and Mapping

image This repository is a collection of deep learning based localization and mapping approaches. A survey is offered in the following paper:

A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence

Changhao Chen, Bing Wang, Chris Xiaoxuan Lu, Niki Trigoni and Andrew Markham

arXiv:2006.12567 [PDF]

This survey is also briefly introduced in Chinese [Zhihu]

News

Update: Jun-22-2020

  • We released our survey paper.

TO DO

Category

If you find this repository useful, please cite our paper:

@misc{chen2020survey,
title={A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence},
author={Changhao Chen and Bing Wang and Chris Xiaoxuan Lu and Niki Trigoni and Andrew Markham},
year={2020},
eprint={2006.12567},
archivePrefix={arXiv},
primaryClass={cs.CV}
}

Categorized by Topic

*The Date in the table denotes the publication date (e.g. date of conference).

Odometry Estimation

Visual Odometry

Models Date Publication Paper Code
Konda et al. 2015 VISAPP Learning visual odometry with a convolutional network
Costante et al. 2016 RA-L Exploring Representation Learning With CNNs for Frame-to-Frame Ego-Motion Estimation
Backprop KF 2016 NeurIPS Backprop KF: Learning Discriminative Deterministic State Estimators
DeepVO 2017 ICRA DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks
SfmLearner 2017 CVPR unsupervised learning of depth and ego-motion from video TF PT
Yin et al. 2017 ICCV Scale Recovery for Monocular Visual Odometry Using Depth Estimated With Deep Convolutional Neural Fields
UnDeepVO 2018 ICRA UnDeepVO: Monocular Visual Odometry through Unsupervised Deep Learning
Barnes et al. 2018 ICRA Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments
GeoNet 2018 CVPR GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose TF
Zhan et al. 2018 CVPR Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction Caffe
DPF 2018 RSS Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors TF
Yang et al. 2018 ECCV Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry
Zhao et al. 2018 IROS Learning monocular visual odometry with dense 3d mapping from dense 3d flow
Turan et al. 2018 IROS Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots
Struct2Depth 2019 AAAI Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos TF
Saputra et al. 2019 ICRA Learning monocular visual odometry through geometry-aware curriculum learning
GANVO 2019 ICRA GANVO: Unsupervised deep monocular visual odometry and depth estimation with generative adversarial networks
CNN-SVO 2019 ICRA CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction ROS
Li et al. 2019 ICRA Pose graph optimization for unsupervised monocular visual odometry
Xue et al. 2019 CVPR Beyond tracking: Selecting memory and refining poses for deep visual odometry
Wang et al. 2019 CVPR Recurrent neural network for (un-) supervised learning of monocular video visual odometry and depth
Li et al. 2019 ICCV Sequential adversarial learning for self-supervised deep visual odometry
Saputra et al. 2019 ICCV Distilling knowledge from a deep pose regressor network
Gordon et al. 2019 ICCV Depth from videos in the wild: Unsupervised monocular depth learning from unknown cameras TF
Koumis et al. 2019 IROS Estimating Metric Scale Visual Odometry from Videos using 3D Convolutional Networks
Bian et al. 2019 NeurIPS Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video PT
D3VO 2020 CVPR D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry
Jiang et al. 2020 CVPR Joint Unsupervised Learning of Optical Flow and Egomotion with Bi-Level Optimization

Visual-Inertial Odometry

Models Date Publication Paper Code
VINet 2017 AAAI VINet: Visual-Inertial Odometry as a Sequence-to-Sequence Learning Problem
VIOLearner 2019 TPAMI Unsupervised deep visual-inertial odometry with online error correction for rgb-d imagery
SelectFusion 2019 CVPR Selective Sensor Fusion for Neural Visual-Inertial Odometry
DeepVIO 2019 IROS DeepVIO: Self-supervised deep learning of monocular visual inertial odometry using 3d geometric constraints

Inertial Odometry

Models Date Publication Paper Code
IONet 2018 AAAI IONet: Learning to Cure the Curse of Drift in Inertial Odometry
RIDI 2018 ECCV RIDI: Robust IMU Double Integration Py
Wagstaff et al. 2018 IPIN LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation PT
Cortes et al. 2019 MLSP Deep Learning Based Speed Estimation for Constraining Strapdown Inertial Navigation on Smartphones
MotionTransformer 2019 AAAI MotionTransformer: Transferring Neural Inertial Tracking between Domains
AbolDeepIO 2019 TITS AbolDeepIO: A Novel Deep Inertial Odometry Network for Autonomous Vehicles
Brossard et al. 2019 ICRA Learning wheel odometry and imu errors for localization
OriNet 2019 RA-L OriNet: Robust 3-D Orientation Estimation With a Single Particular IMU PT
L-IONet 2020 IoT-J Deep Learning based Pedestrian Inertial Navigation: Methods, Dataset and On-Device Inference

LIDAR Odometry

Models Date Publication Paper Code
Velas et al. 2018 ICARSC CNN for IMU Assisted Odometry Estimation using Velodyne LiDAR
LO-Net 2019 CVPR LO-Net: Deep Real-time Lidar Odometry
DeepPCO 2019 IROS DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network
Valente et al. 2019 IROS Deep sensor fusion for real-time odometry estimation

Mapping

Geometric Mapping

Depth Representation
  • Joint learning of depth and ego-motion has been discussed in Visual Odometry. We do not include these works here, although they can produce depth representation.
Models Date Publication Paper Code
Eigen et al. 2014 NeurIPS Depth Map Prediction from a Single Image using a Multi-Scale Deep Network
Liu et al. 2015 TPAMI Learning depth from single monocular images using deep convolutional neural fields
Garg et al. 2016 ECCV Unsupervised cnn for single view depth estimation: Geometry to the rescue
Demon 2017 CVPR Demon: Depth and motion network for learning monocular stereo
Godard et al. 2017 CVPR Unsupervised monocular depth estimation with left-right consistency
Wang et al. 2018 CVPR Learning depth from monocular videos using direct methods
Voxel Representation
Models Date Publication Paper Code
SurfaceNet 2017 CVPR SurfaceNet: An End-to-end 3D Neural Network for Multiview Stereopsis
Dai et al. 2017 CVPR Shape completion using 3d-encoder-predictor cnns and shape synthesis
Hane et al. 2017 3DV Hierarchical surface prediction for 3d object reconstruction
OctNetFusion 2017 3DV Octnetfusion: Learning depth fusion from data
OGN 2017 ICCV Octree generating networks: Efficient convolutional architectures for high-resolution 3d outputs
Kar et al. 2017 NeurIPS Learning a multi-view stereo machine
RayNet 2018 CVPR RayNet: Learning Volumetric 3D Reconstruction with Ray Potentials
Point Representation
Models Date Publication Paper Code
Fan et al. 2017 CVPR A point set generation network for 3d object reconstruction from a single image
Mesh Representation
Models Date Publication Paper Code
Ladicky et al. 2017 ICCV From point clouds to mesh using regression
Mukasa et al. 2017 ICCVW 3d scene mesh from cnn depth predictions and sparse monocular slam
Wang et al. 2018 ECCV Pixel2mesh: Generating 3d mesh models from single rgb images
Groueix et al. 2018 CVPR AtlasNet: A Papier-Mâché Approach to Learning 3D Surface Generation
Scan2Mesh 2019 CVPR Scan2mesh: From unstructured range scans to 3d meshes
Bloesch et al. 2019 ICCV Learning meshes for dense visual SLAM

Semantic Mapping

Models Date Publication Paper Code
SemanticFusion 2017 ICRA Semanticfusion: Dense 3d semantic mapping with convolutional neural networks
DA-RNN 2017 RSS DA-RNN: Semantic mapping with data associated recurrent neural networks
Ma et al. 2017 IROS Multi-view deep learning for consistent semantic mapping with rgb-d cameras
Sunderhauf et al. 2017 IROS Meaningful maps with object-oriented semantic mapping
Fusion++ 2018 3DV Fusion++: Volumetric object-level SLAM
Grinvald et al. 2019 RA-L Volumetric instance-aware semantic mapping and 3d object discovery
PanopticFusion 2019 IROS Panopticfusion: Online volumetric semantic mapping at the level of stuff and things

General Mapping

  • neural scene representation, task-driven representation
Models Date Publication Paper Code
Mirowski et al. 2017 ICLR Learning to navigate in complex environments
Zhu et al. 2017 ICRA Target-driven visual navigation in indoor scenes using deep reinforcement learning
Eslami et al. 2018 Science Neural scene representation and rendering
CodeSLAM 2018 CVPR CodeSLAM — Learning a Compact, Optimisable Representation for Dense Visual SLAM
Mirowski et al. 2018 NeurIPS Learning to navigate in cities without a map
SRN 2019 NeurIPS Scene representation networks: Continuous 3d-structure-aware neural scene representations
Tobin et al. 2019 NeurIPS Geometry-aware neural rendering
Lim et al. 2019 NeurIPS Neural multisensory scene inference

Global Localization

2D-to-2D Localization

Implicit Map Based Localization
Models Date Publication Paper Code
PoseNet 2015 ICCV PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization
Bayesian PoseNet 2016 ICRA Modelling uncertainty in deep learning for camera relocalization
BranchNet 2017 ICRA Delving deeper into convolutional neural networks for camera relocalization
VidLoc 2017 CVPR VidLoc: A Deep Spatio-Temporal Model for 6-DoF Video-Clip Relocalization
Geometric PoseNet 2017 CVPR Geometric loss functions for camera pose regression with deep learning
Naseer et al. 2017 IROS Deep Regression for Monocular Camera-based 6-DoF Global Localization in Outdoor Environments
LSTM-PoseNet 2017 ICCV Image-based localization using lstms for structured feature correlation
Hourglass PoseNet 2017 ICCV Workshops Image-based localization using hourglass networks
VLocNet 2018 ICRA Deep auxiliary learning for visual localization and odometry
MapNet 2018 CVPR Geometry-Aware Learning of Maps for Camera Localization
SPP-Net 2018 BMVC Synthetic view generation for absolute pose regression and image synthesis
GPoseNet 2018 BMVC A hybrid probabilistic model for camera relocalization
VLocNet++ 2018 RA-L Vlocnet++: Deep multitask learning for semantic visual localization and odometry
Xue et al. 2019 ICCV Local supports global: Deep camera relocalization with sequence enhancement
Huang et al. 2019 ICCV Prior guided dropout for robust visual localization in dynamic environments
Bui et al. 2019 ICCVW Adversarial networks for camera pose regression and refinement
GN-Net 2020 RA-L GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization
AtLoc 2020 AAAI AtLoc: Attention Guided Camera Localization
Explicit Map Based Localization
Models Date Publication Paper Code
Laskar et al. 2017 ICCV Workshops Camera Relocalization by Computing Pairwise Relative Poses Using Convolutional Neural Network
DELS-3D 2018 CVPR Dels-3d: Deep localization and segmentation with a 3d semantic map
AnchorNet 2018 BMVC Improved visual relocalization by discovering anchor points
RelocNet 2018 ECCV RelocNet: Continuous Metric Learning Relocalisation using Neural Nets
CamNet 2019 ICCV Camnet: Coarse-to-fine retrieval for camera re-localization

2D-to-3D Localization

Descriptor Matching
Models Date Publication Paper Code
NetVLAD 2016 CVPR Netvlad: Cnn architecture for weakly supervised place recognition
DELF 2017 CVPR Large-scale image retrieval with attentive deep local features
Schonberger et al. 2018/06 CVPR Semantic Visual Localization
SuperPoint 2018 CVPRW Superpoint: Selfsupervised interest point detection and description
NC-Net 2018 NeurIPS Neighbourhood consensus networks
Sarlin et al. 2019/06 CVPR From Coarse to Fine: Robust Hierarchical Localization at Large Scale
2D3D-MatchNet 2019 ICRA 2d3d-matchnet: learning to match keypoints across 2d image and 3d point cloud
D2-Net 2019 CVPR D2-net: A trainable cnn for joint description and detection of local features
Speciale et al. 2019 CVPR Privacy preserving image-based localization
OOI-Net 2019 CVPR Visual localization by learning objects-of-interest dense match regression
Camposeco et al. 2019 CVPR scene compression for visual localization
Cheng et al. 2019 CVPR Cascaded parallel filtering for memory-efficient image-based localization
Taira et al. 2019 CVPR Is this the right place? geometric-semantic pose verification for indoor visual localization
R2D2 2019 NeurIPS R2d2: Repeatable and reliable detector and descriptor
ASLFeat 2020 CVPR Aslfeat: Learning local features of accurate shape and localization
Scene Coordinate Regression
Models Date Publication Paper Code
DSAC 2017/07 CVPR DSAC - Differentiable RANSAC for Camera Localization
DSAC++ 2018/06 CVPR Learning less is more-6d camera localization via 3d surface regression
Dense SCR 2018/07 RSS Full-Frame Scene Coordinate Regression for Image-Based Localization
DSAC++ angle 2018/09 ECCV Scene coordinate regression with angle-based reprojection loss for camera relocalization
Confidence SCR 2018/09 BMVC Scene Coordinate and Correspondence Learning for Image-Based Localization
ESAC 2019/10 ICCV Expert Sample Consensus Applied to Camera Re-Localization
NG-RANSAC 2019/06 CVPR Neural-Guided RANSAC: Learning Where to Sample Model Hypotheses
SANet 2019/10 ICCV SANet: scene agnostic network for camera localization
HSC-Net 2020 CVPR Hierarchical scene coordinate classification and regression for visual localization
KF-Net 2020 CVPR Kfnet: Learning temporal camera relocalization using kalman filtering

3D-to-3D Localization

Models Date Publication Paper Code
LocNet 2018 IV Locnet: Global localization in 3d point clouds for mobile vehicles
PointNetVLAD 2018 CVPR Pointnetvlad: Deep point cloud based retrieval for large-scale place recognition
Barsan et al. 2018 CoRL Learning to localize using a lidar intensity map
L3-Net 2019 CVPR L3-net: Towards learning based lidar localization for autonomous driving
PCAN 2019 CVPR PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval
DeepICP 2019 CVPR Deepicp: An end-to-end deep neural network for 3d point cloud registration
DCP 2019 CVPR Deep closest point: Learning representations for point cloud registration
D3Feat 2020 CVPR D3feat: Joint learning of dense detection and description of 3d local features

SLAM

Local Optimization

Models Date Publication Paper Code
LS-Net 2018 ECCV Learning to solve nonlinear least squares for monocular stereo
BA-Net 2019 ICLR BA-Net: Dense bundle adjustment network

Global Optimization

Models Date Publication Paper Code
CNN-SLAM 2017 CVPR CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction
Li et al. 2019 ICRA Pose graph optimization for unsupervised monocular visual odometry
DeepTAM 2020 IJCV DeepTAM: Deep Tracking and Mapping with Convolutional Neural Networks
DeepFactors 2020 RA-L DeepFactors: Real-Time Probabilistic Dense Monocular SLAM

Keyframe and Loop-closure Detection

Models Date Publication Paper Code
Sunderhauf et al. 2015 RSS Place recognition with convnet landmarks: Viewpoint-robust, condition-robust, training-free
Gao et al. 2017 AR Unsupervised learning to detect loops using deep neural networks for visual slam system
Huang et al. 2018 RSS Lightweight unsupervised deep loop closure
Sheng et al. 2019 ICCV Unsupervised Collaborative Learning of Keyframe Detection and Visual Odometry Towards Monocular Deep SLAM
Memon et al. 2020 RAS Loop closure detection using supervised and unsupervised deep neural networks for monocular slam systems

Uncertainty Estimation

Models Date Publication Paper Code
Kendall et al. 2016 ICRA Modelling uncertainty in deep learning for camera relocalization
Kendall et al. 2017 NeurIPS What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?
VidLoc 2017 CVPR VidLoc: A Deep Spatio-Temporal Model for 6-DoF Video-Clip Relocalization
Wang et al. 2018 IJRR End-to-end, sequenceto-sequence probabilistic visual odometry through deep neural networks
Chen et al. 2019 TMC Deep neural network based inertial odometry using low-cost inertial measurement units

This list is maintained by Changhao Chen and Bing Wang, Department of Computer Science, University of Oxford.

Please contact them (email: [email protected]; [email protected]), if you have any question or would like to add your work on this list.

Note that the project description data, including the texts, logos, images, and/or trademarks, for each open source project belongs to its rightful owner. If you wish to add or remove any projects, please contact us at [email protected].