视觉 SLAM 和深度学习碰撞产生的火花

回环检测

  1. Loop Closure Detection for Visual SLAM Systems Using Deep Neural Networks

语义地图

  1. SLAM++: Simultaneous Localisation and Mapping at the Level of Objects

特征描述

  1. LIFT: Learned Invariant Feature Transform
  2. Toward Geometric Deep SLAM
  3. Learning Deep Features for Scene Recognition using Places Database

Place Recognition

  1. NetVLAD: CNN architecture for weakly supervised place recognition
  2. Convolutional Neural Network-based Place Recognition

Relocalization

  1. Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
  2. Modelling Uncertainty in Deep Learning for Camera Relocalization