ICRA2019-Autonomous-Driving

ICRA 2019 paper on autonomous driving

• Localization

1. 0036 Learning Wheel Odometry and IMU Errors for Localization
2. 0299 Expectation-Maximization for Adaptive Mixture Models in Graph Optimization
3. 0336 Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving
4. 0589 Learning Scene Geometry for Visual Localization in Challenging Conditions
5. 1237 Accurate and Efficient Self-Localization on Roads Using Basic Geometric Primitives
6. 1412 Visual Localization at Intersections with Digital Maps
7. 1688 Localizing Discriminative Visual Landmarks for Place Recognition
8. 2444 A White-Noise-On-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3)
9. 2635 Learning to See the Wood for the Trees - Deep Laser Localization in Urban and Natural Environments on a CPU
10. 2801 Deep Metadata Fusion for Traffic Light to Lane Assignment
11. 3123 Variational End-To-End Navigation and Localization

• SLAM Or Odometry

1. 0041 MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree
2. 0095 Visual SLAM: Why Bundle Adjust?
3. 0122 Pose Graph Optimization for Unsupervised Monocular Visual Odometry
4. 0239 Tightly Coupled 3D Lidar Inertial Odometry and Mapping
5. 0257 A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures
6. 0306 FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM
7. 0508 Fast and Robust Initialization for Visual-Inertial SLAM
8. 0595 CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction
9. 0674 Visual-Inertial Navigation: A Concise Review
10. 0717 GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping
11. 0782 A Comparison of CNN-Based and Hand-Crafted Keypoint Descriptors
12. 0783 IN2LAMA: INertial Lidar Localisation And MApping
13. 0798 Accurate Direct Visual-Laser Odometry with Explicit Occlusion Handling and Plane Detection
14. 1008 Learning Monocular Visual Odometry through Geometry-Aware Curriculum Learning
15. 1038 A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation
16. 1065 2D3D-MatchNet: Learning to Match Keypoints Across 2D Image and 3D Point Cloud
17. 1072 Improving the Robustness of Visual-Inertial Extended Kalman Filtering
18. 1117 Four-Wheeled Dead-Reckoning Model Calibration Using RTS Smoothing
19. 1129 RESLAM:A Real-Time Robust Edge-Based SLAM System
20. 1247 Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry
21. 1267 MID-Fusion: Octree-Based Object-Level Multi-Instance Dynamic SLAM
22. 1380 GANVO - Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks
23. 1381 Efficient Constellation-Based Map-Merging for Semantic SLAM
24. 1383 Multimodal Semantic SLAM with Probabilistic Data Association
25. 1567 Efficient 2D-3D Matching for Multi-Camera Visual Localization
26. 1607 Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints
27. 1883 Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM Via Sparse-Bounded Sums-Of-Squares Programming
28. 1891 Real-Time Monocular Object-Model Aware Sparse SLAM
29. 1946 Beyond Point Clouds: Fisher Information Field for Active Visual Localization
30. 2161 Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation
31. 2335 Robust Pose-Graph SLAM Using Absolute Orientation Sensing
32. 2358 Sparse2Dense: From Direct Sparse Odometry to Dense 3D Reconstruction
33. 2364 Unified Representation and Registration of Heterogeneous Sets of Geometric Primitives
34. 2381 Local Descriptor for Robust Place Recognition Using LiDAR Intensity
35. 2394 Enhancing V-SLAM Keyframe Selection with an Efficient ConvNet for Semantic Analysis
36. 2408 Regeneration of Normal Distributions Transform for Target Lattice Based on Fusion of Truncated Gaussian Components
37. 2410 Loosely-Coupled Semi-Direct Monocular SLAM
38. 2496 Learning to Predict Ego-Vehicle Poses for Sampling-Based Nonholonomic Motion Planning
39. 2533 Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks
40. 2545 Low-Latency Visual SLAM with Appearance-Enhanced Local Map Building

• Point Set Registration

1. 0593 Robust Generalized Point Set Registration using Inhomogeneous Hybrid Mixture Models via Expectation Maximization
2. 1152 Analysis of Robust Functions for Registration Algorithms
3. 1205 CELLO-3D: Estimating the Covariance of ICP in the Real World
4. 1322 Speeding up Iterative Closest Point Using Stochastic Gradient Descent
5. 2359 Robust low-overlap 3-D point cloud registration for outlier rejection

• Navigation

1. 0109 Analytic Collision Risk Calculation for Autonomous Vehicle Navigation
2. 0131 Uncertainty-Aware Path Planning for Navigation on Road Networks Using Augmented MDPs
3. 0362  A new approach to local navigation for autonomous driving vehicles based on the curvature velocity method
4. 1340 OVPC Mesh - 3D Free-Space Representation for Local Ground VehicleNavigation

• Planning

1. 0073 Trajectory Planning for a Tractor with Multiple Trailers in Extremely Narrow Environments: A Unified Approach *
2. 0251 Fast Stochastic Functional Path Planning in Occupancy Maps
3. 0413 Graduated Fidelity Lattices for Motion Planning under Uncertainty
4. 0666 Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments
5. 0693 Non-Parametric Informed Exploration for Sampling-Based Motion Planning
6. 0808 Coverage Path Planning in Belief Space
7. 1153 Combined Task and Motion Planning under Partial Observability:An Optimization-Based Approach
8. 1202 How Shall I Drive Interaction Modeling and Motion Planning towards Empathetic and Socially-Graceful Driving
9. 1282 IX-BSP: Belief Space Planning through Incremental Expectation
10. 1314 Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks
11. 1330 Balancing Global Exploration and Local-Connectivity Exploitation with Rapidly-exploring Random Disjointed-Trees
12. 1447 Simulated Annealing-Optimized Trajectory Planning within Non-Collision Nominal Intervals for Highway Autonomous Driving
13. 1605 What Lies in the Shadows Safe and Computation-Aware Motion Planning for Autonomous Vehicles Using Intent-Aware Dynamic Shadow Regions
14. 1630 A Fuzzy Based Accessibility Model for Disaster Environment
15. 1698 Uncertainty-Aware Driver Trajectory Prediction at Urban Intersections
16. 2030 Hierarchical Game-Theoretic Planning for Autonomous Vehicles
17. 2660 Optimal Stochastic Vehicle Path Planning Using Covariance Steering
18. 2894 Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation

• Model Predictive Control

1. 0214 Trust Regions for Safe Sampling-Based Model Predictive Control
2. 0746 Integrity Risk-Based Model Predictive Control for Mobile Robots

• 感知、预测等

1. 0075 Detection-by-Localization: Maintenance-Free Change Object Detector
2. 0118 Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
3. 0124 Dual Refinement Network for Single-Shot Object Detection
4. 0340 DeepSignals: Predicting Intent of Drivers Through Visual Signals
5. 0366 Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network
6. 0409 Distant Vehicle Detection Using Radar and Vision
7. 0431 Road Detection through CRF based LiDAR-Camera Fusion
8. 0477 A Fast and Robust 3D Person Detector and Posture Estimator for Mobile Robotic Applications
9. 0520 Bonnet: An Open-Source Training and Deployment Framework for Semantic Segmentation in Robotics using CNNs
10. 0547 Real-time Intent Prediction of Pedestrians for Autonomous Ground Vehicles via Spatio-Temporal DenseNet
11. 0619 A Simple Adaptive Tracker with Reminiscences
12. 0660 SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimation
13. 0699 Real-Time Joint Semantic Segmentation and Depth Estimation Using Asymmetric Annotations
14. 0789 Fast Instance and Semantic Segmentation Exploiting Local Connectivity, Metric Learning, and One-Shot Detection for Robotics
15. 0817 Large-Scale Object Mining for Object Discovery from Unlabeled Video
16. 0879 Plug-and-Play: Improve Depth Prediction via Sparse Data Propagation
17. 0908 DFNet: Semantic Segmentation on Panoramic Images with Dynamic Loss Weights and Residual Fusion Block
18. 1026 A Novel Multi-layer Framework for Tiny Obstacle Discovery
19. 1145 Goal-Oriented Object Importance Estimation in On-Road Driving Videos
20. 1186 Detection and Tracking of Small Objects in Sparse 3D Laser Range Data
21. 1249 Object Classification Based on Unsupervised Learned Multi-Modal Features for Overcoming Sensor Failures
22. 1348 Egocentric Vision-Based Future Vehicle Localization for Intelligent Driving Assistance Systems
23. 1375 Attention-Based Lane Change Prediction
24. 1491 Evaluating Merging Strategies for Sampling-Based Uncertainty Techniques in Object Detection
25. 1494 MVX-Net: Multimodal VoxelNet for 3D Object Detection
26. 1527 Multimodal Trajectory Predictions for Autonomous Driving Using Deep Convolutional Networks
27. 1539 Learning from Demonstration in the Wild
28. 1596 Adaptive Probabilistic Vehicle Trajectory Prediction through Physically Feasible Bayesian Recurrent Neural Network
29. 1636 Depth Generation Network: Estimating Real World Depth from Stereo and Depth Images
30. 1639 Classifying Pedestrian Actions in Advance Using Predicted Video Of Urban Driving Scenes
31. 1650 HD Map Change Detection with a Boosted Particle Filter
32. 1767 Mixed Frame-Event-Driven Fast Pedestrian Detection
33. 1853 Self-Supervised Learning for Single View Depth and Surface Normal Estimation
34. 1971 Priming Deep Pedestrian Detection with Geometric Context
35. 1973 Anytime Stereo Image Depth Estimation on Mobile Devices
36. 2000 Interactive Trajectory Prediction for Autonomous Driving Via Recurrent Meta Induction Neural Network
37. 2014 Segmenting Unknown 3D Objects from Real Depth Images Using Mask R-CNN Trained on Synthetic Point Clouds
38. 2139 Self-Supervised Sparse-To-Dense - Self-Supervised Depth Completion from LiDAR and Monocular Camera
39. 2178 DSNet: Joint Learning for Scene Segmentation and Disparity Estimation
40. 2186 Global Vision-Based Reconstruction of Three-Dimensional Road Surfaces Using Adaptive Extended Kalman Filter
41. 2189 Online Vehicle Trajectory Prediction Using Policy Anticipation Network and Optimization-Based Context Reasoning
42. 2203 Using DP towards a Shortest Path Problem-Related Application
43. 2354 Monocular Semantic Occupancy Grid Mapping with Convolutional Variational Encoder-Decoder Networks
44. 2504 Focal Loss in 3D Object Detection
45. 2795 DispSegNet: Leveraging Semantics for End-To-End Learning of Disparity Estimation from Stereo Imagery
46. 2800 Long-Term Occupancy Grid Prediction Using Recurrent Neural Networks
47. 2861 Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving
48. 2877 Geo-Supervised Visual Depth Prediction
49. 2950 Accurate and Efficient Seafloor Observations with Multiple Autonomous Underwater Vehicles - Theory and Experiments in a Hydrothermal Vent Field

• Point Cloud

1. 0111 Oriented Point Sampling for Plane Detection in Unorganized Point Clouds
2. 0222 Automatic Labeled LiDAR Data Generation based on Precise Human Model
3. 0286 Hierarchical Depthwise Graph Convolutional Neural Network for 3D Semantic Segmentation of Point Clouds
4. 0378 Uncertainty Estimation for Projecting Lidar Points onto Camera Images for Moving Platforms
5. 0456 Robust 3D Object Classification by Combining Point Pair Features and Graph Convolution
6. 0803 Discrete Rotation Equivariance for Point Cloud Recognition
7. 1071 An Extrinsic Calibration Tool for Radar, Camera and Lidar
8. 1173 Depth Completion with Deep Geometry and Context Guidance
9. 1632 SqueezeSegV2:Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud
10. 2321 Spatial Change Detection Using Voxel Classification by Normal Distributions Transform
11. 2874 A Maximum Likelihood Approach to Extract Finite Planes from 3-D Laser Scans

• Autonomous Driving System

1. 0451 Multimodal Spatio-Temporal Information in End-to-End Networks for Automotive Steering Prediction
2. 0679 Uncertainty-Aware Data Aggregation for Deep Imitation Learning
3. 0705 Semantic Predictive Control for Explainable and Efficient Policy Learning
4. 1299 Deep Object-Centric Policies for Autonomous Driving
5. 1324 Building a Winning Self-Driving Car in Six Months
6. 1593 Where Should We Place LiDARs on the Autonomous Vehicle: An Optimal Design Approach
7. 1728 A Predictive Reward Function for Human-Like Driving Based on a Transition Model of Surrounding Environment
8. 1758 Safe Reinforcement Learning with Model Uncertainty Estimates
9. 1827 Variational End-To-End Navigation and Localization
10. 2181 ADAPS: Autonomous Driving Via Principled Simulations
11. 2649 A Multi-Vehicle Trajectories Generator to Simulate Vehicle-To-Vehicle Encountering Scenarios