Papers-Semantic-SLAM-or-Mapping

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Papers-Semantic-SLAM-or-Mapping

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Recent research about semantic SLAM or mapping

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# Recent research about semantic SLAM, odometry, localization and mapping

## Semantic localization

### Survey

- Xia, Linlin, et al. "[A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots](https://journals.sagepub.com/doi/pdf/10.1177/1729881420919185)." International Journal of Advanced Robotic Systems 17.3 (2020): 1729881420919185.
  
- Sualeh, Muhammad, and Gon-Woo Kim. "[Simultaneous localization and mapping in the epoch of semantics: a survey](https://link.springer.com/article/10.1007/s12555-018-0130-x)." International Journal of Control, Automation and Systems 17.3 (2019): 729-742.

### 2020

- Chen, Steven W., et al. "[SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory](https://arxiv.org/pdf/1912.12726.pdf)." IEEE Robotics and Automation Letters 5.2 (2020): 612-619.

- Doherty, Kevin, et al. "[Probabilistic Data Association via Mixture Models for Robust Semantic SLAM](https://arxiv.org/pdf/1909.11213.pdf)." ICRA 2020. [[Code](https://github.com/MarineRoboticsGroup/mixtures_semantic_slam)]

- Fan, Huanhuan, et al. "[Visual Localization Using Semantic Segmentation and Depth Prediction](https://arxiv.org/pdf/2005.11922.pdf)." arXiv preprint arXiv:2005.11922 (2020).

- Hoang, Dinh-Cuong, Achim J. Lilienthal, and Todor Stoyanov. "[Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information](https://ieeexplore.ieee.org/document/8977356)." IEEE Robotics and Automation Letters 5.2 (2020): 1962-1969.

- Huang, Jiahui, et al. "[ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings](https://openaccess.thecvf.com/content_CVPR_2020/papers/Huang_ClusterVO_Clustering_Moving_Instances_and_Estimating_Visual_Odometry_for_Self_CVPR_2020_paper.pdf)." Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition. 2020. [[Code](https://cg.cs.tsinghua.edu.cn/people/~huangjh/page/clustervo)]

- Qin, Tong, et al. "[AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot](https://arxiv.org/pdf/2007.01813)." IROS (2020).

- Wu, Yanmin, et al. "[EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association](https://arxiv.org/pdf/2004.12730.pdf)." arXiv preprint arXiv:2004.12730 (2020). [[Code](https://github.com/yanmin-wu/EAO-SLAM)]

- Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca, "[Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping](https://arxiv.org/pdf/1910.02490.pdf)", IEEE Intl. Conf. on Robotics and Automation (ICRA) 2020. [[Code](https://github.com/MIT-SPARK/Kimera)]

- Sheng, Chao, et al. "[Dynamic-DSO: Direct Sparse Odometry Using Objects Semantic Information for Dynamic Environments](https://www.mdpi.com/2076-3417/10/4/1467/pdf)," Applied Sciences, vol. 10, no. 4, Art. no. 4, Jan. 2020.

- Shi, Tianxin, et al. "[Dense Semantic 3D Map Based Long-Term Visual Localization with Hybrid Features](https://arxiv.org/pdf/2005.10766.pdf)." arXiv preprint arXiv:2005.10766 (2020).

- Singh, Gaurav, Meiqing Wu, and Siew-Kei Lam. "[Fusing Semantics and Motion State Detection for Robust Visual SLAM](http://openaccess.thecvf.com/content_WACV_2020/html/Singh_Fusing_Semantics_and_Motion_State_Detection_for_Robust_Visual_SLAM_WACV_2020_paper.html)," in The IEEE Winter Conference on Applications of Computer Vision, 2020, pp. 2764–2773, Accessed: May 19, 2020.

- Zhang, Jun, et al. "[VDO-SLAM: A Visual Dynamic Object-aware SLAM System](https://arxiv.org/pdf/2005.11052.pdf)." arXiv preprint arXiv:2005.11052 (2020).

- Zhou, Qunjie, et al. "[To Learn or Not to Learn: Visual Localization from Essential Matrices](http://arxiv.org/abs/1908.01293)," IEEE Intl. Conf. on Robotics and Automation (ICRA) 2020. [[Code](https://github.com/GrumpyZhou/visloc-relapose)]

### 2019

- Chen, Xieyuanli, et al. "[SuMa++: Efficient LiDAR-based semantic SLAM](http://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2019iros.pdf)." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. [[Code](https://github.com/PRBonn/semantic_suma/)]

- Doherty, Kevin, Dehann Fourie, and John Leonard. "[Multimodal Semantic SLAM with Probabilistic Data Association](https://marinerobotics.mit.edu/sites/default/files/doherty_icra2019_revised.pdf)." 2019 international conference on robotics and automation (ICRA). IEEE, 2019.

- Feng, Qiaojun, et al. "[Localization and Mapping using Instance-specific Mesh Models](https://existentialrobotics.org/ref/Feng_DeformableMeshModel_IROS19.pdf)." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019.
  
- Frey, Kristoffer M., Ted J. Steiner, and Jonathan P. How. "[Efficient Constellation-Based Map-Merging for Semantic SLAM](https://arxiv.org/pdf/1809.09646.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- Ganti, Pranav, and Steven Waslander. "[Network Uncertainty Informed Semantic Feature Selection for Visual SLAM](https://arxiv.org/pdf/1811.11946.pdf)." 2019 16th Conference on Computer and Robot Vision (CRV). IEEE, 2019. [[Code](https://github.com/navganti/SIVO)]

- Garg, Sourav, Niko Suenderhauf, and Michael Milford. "[Semantic–geometric visual place recognition: a new perspective for reconciling opposing views](https://www.researchgate.net/profile/Sourav_Garg/publication/332280264_Semantic-geometric_visual_place_recognition_a_new_perspective_for_reconciling_opposing_views/links/5e8ec0ed4585150839cad2a0/Semantic-geometric-visual-place-recognition-a-new-perspective-for-reconciling-opposing-views.pdf)." The International Journal of Robotics Research (2019): 0278364919839761.

- Hosseinzadeh, Mehdi, et al. "[Real-time monocular object-model aware sparse SLAM](https://arxiv.org/pdf/1809.09149.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- H. Liang, N. J. Sanket, C. Fermüller and Y. Aloimonos, "[SalientDSO: Bringing Attention to Direct Sparse Odometry](https://arxiv.org/pdf/1803.00127.pdf)," in IEEE Transactions on Automation Science and Engineering, vol. 16, no. 4, pp. 1619-1626, Oct. 2019, doi: 10.1109/TASE.2019.2900980.

- Larsson, Mans, et al. "[Fine-Grained Segmentation Networks: Self-Supervised Segmentation for Improved Long-Term Visual Localization](https://openaccess.thecvf.com/content_ICCV_2019/papers/Larsson_Fine-Grained_Segmentation_Networks_Self-Supervised_Segmentation_for_Improved_Long-Term_Visual_Localization_ICCV_2019_paper.pdf)." Proceedings of the IEEE International Conference on Computer Vision. 2019. [[Code](https://github.com/maunzzz/fine-grained-segmentation-networks)]

- Liu, Yu, et al. "[Global Localization with Object-Level Semantics and Topology](https://ieeexplore.ieee.org/abstract/document/8794475)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- Ma, Wei-Chiu, et al. "[Exploiting Sparse Semantic HD Maps for Self-Driving Vehicle Localization](https://arxiv.org/pdf/1908.03274.pdf)." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems.

- Ok, Kyel, et al. "[Robust Object-based SLAM for High-speed Autonomous Navigation](https://groups.csail.mit.edu/rrg/papers/OkLiu19icra.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- Shariati, Armon, Bernd Pfrommer, and Camillo J. Taylor. "[Simultaneous Localization and Layout Model Selection in Manhattan Worlds](https://arxiv.org/pdf/1809.04135.pdf)." IEEE Robotics and Automation Letters 4.2 (2019): 950-957.

- Shi, Tianxin, et al. "[Visual Localization Using Sparse Semantic 3D Map](https://arxiv.org/pdf/1904.03803)." 2019 IEEE International Conference on Image Processing (ICIP). IEEE, 2019.

- Strecke, Michael, and Stückler, Jörg. "[EM-Fusion: Dynamic Object-Level SLAM With Probabilistic Data Association](https://openaccess.thecvf.com/content_ICCV_2019/papers/Strecke_EM-Fusion_Dynamic_Object-Level_SLAM_With_Probabilistic_Data_Association_ICCV_2019_paper.pdf),"  Proceedings of the IEEE International Conference on Computer Vision. 2019.

- Xu, Binbin, et al. "[MID-Fusion: Octree-based object-level multi-instance dynamic SLAM](https://arxiv.org/pdf/1812.07976.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- Yang, Shichao, and Sebastian Scherer. "[CubeSLAM: Monocular 3D Object SLAM](https://shichaoy.github.io/Publications/tro_2019_object.pdf)." IEEE Transactions on Robotics 35.4 (2019): 925-938. [[Code](https://github.com/shichaoy/cube_slam)]

- Yu, H. W., J. Y. Moon, and B. H. Lee. "[A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM](https://arxiv.org/pdf/1809.05225.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

### 2018

- Barnes, Dan, et al. "[Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments](https://arxiv.org/pdf/1711.06623.pdf)." 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018.

- Brasch, Nikolas, et al. "[Semantic Monocular SLAM for Highly Dynamic Environments](https://ieeexplore.ieee.org/document/8593828)." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp. 393–400.

- Fei, Xiaohan, and Stefano Soatto. "[Visual-Inertial Object Detection and Mapping](https://eccv2018.org/openaccess/content_ECCV_2018/papers/Xiaohan_Fei_Visual-Inertial_Object_Detection_ECCV_2018_paper.pdf)." Proceedings of the European Conference on Computer Vision (ECCV). 2018.

- Gawel, Abel, et al. "[X-View: Graph-Based Semantic Multi-View Localization](https://natanaso.github.io/rcw-icra18/assets/ref/ICRA-MRP18_paper_1.pdf)." IEEE Robotics and Automation Letters 3.3 (2018): 1687-1694. [[Code](https://github.com/ethz-asl/x-view)]

- Lianos, Konstantinos-Nektarios, et al. "[VSO: Visual Semantic Odometry](http://openaccess.thecvf.com/content_ECCV_2018/papers/Konstantinos-Nektarios_Lianos_VSO_Visual_Semantic_ECCV_2018_paper.pdf)." Proceedings of the European conference on computer vision (ECCV). 2018. [[Supplementary](https://demuc.de/papers/lianos2018vso_supp.pdf)]

- Li, Peiliang, and Tong Qin. "[Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving](https://arxiv.org/pdf/1807.02062.pdf)." Proceedings of the European Conference on Computer Vision (ECCV). 2018.

- McCormac, John, et al. "[Fusion++: Volumetric Object-Level SLAM](https://www.doc.ic.ac.uk/~sleutene/publications/fusion_plusplus_3dv_camera_ready.pdf)." 2018 international conference on 3D vision (3DV). IEEE, 2018.

- Nicholson, Lachlan, et al. "[QuadricSLAM: Dual Quadrics From Object Detections as Landmarks in Object-Oriented SLAM](https://arxiv.org/pdf/1804.04011.pdf)." IEEE Robotics and Automation Letters, vol. 4, no. 1, 2018, pp. 1–8.

- Parisotto, Emilio, et al. "[Global Pose Estimation with an Attention-Based Recurrent Network](http://openaccess.thecvf.com/content_cvpr_2018_workshops/papers/w9/Parisotto_Global_Pose_Estimation_CVPR_2018_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops. 2018.

- Radwan, Noha, Abhinav Valada, and Wolfram Burgard. "[VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry](https://arxiv.org/pdf/1804.08366)." IEEE Robotics and Automation Letters 3.4 (2018): 4407-4414.

- Toft, Carl, et al. "[Semantic Match Consistency for Long-Term Visual Localization](https://openaccess.thecvf.com/content_ECCV_2018/papers/Carl_Toft_Semantic_Match_Consistency_ECCV_2018_paper.pdf)." Proceedings of the European Conference on Computer Vision (ECCV). 2018.

- Schönberger, Johannes L., et al. "[Semantic Visual Localization](http://openaccess.thecvf.com/content_cvpr_2018/papers/Schonberger_Semantic_Visual_Localization_CVPR_2018_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2018.

- E. Stenborg, C. Toft and L. Hammarstrand, "[Long-Term Visual Localization Using Semantically Segmented Images](https://arxiv.org/pdf/1801.05269.pdf)," 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 6484-6490, doi: 10.1109/ICRA.2018.8463150.

- Yu, Chao, et al. "[DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments](https://arxiv.org/pdf/1809.08379.pdf)." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018. [[Code](https://github.com/ivipsourcecode/DS-SLAM)]

- Yu, H. W., and Beom Hee Lee. "[A Variational Feature Encoding Method of 3D Object for Probabilistic Semantic SLAM](https://arxiv.org/pdf/1808.10180.pdf)." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.

### 2017

- Bowman, Sean L., et al. "[Probabilistic Data Association for Semantic SLAM](https://www.cis.upenn.edu/~kostas/mypub.dir/bowman17icra.pdf)." 2017 IEEE international conference on robotics and automation (ICRA). IEEE, 2017.

- Jan Czarnowski, Stefan Leutenegger, and Andrew J. Davison. "[Semantic Texture for Robust Dense Tracking](http://openaccess.thecvf.com/content_ICCV_2017_workshops/papers/w17/Czarnowski_Semantic_Texture_for_ICCV_2017_paper.pdf)." Proceedings of the IEEE International Conference on Computer Vision Workshops. 2017.

- Pavlakos, G., Zhou, X., Chan, A., Derpanis, K. G., & Daniilidis, K. (2017, May). "[6-DoF Object Pose from Semantic Keypoints](https://arxiv.org/pdf/1703.04670)". In 2017 IEEE international conference on robotics and automation (ICRA) (pp. 2011-2018). IEEE.

- Sucar, Edgar, and Jean-Bernard Hayet. "[Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection](https://arxiv.org/pdf/1705.09860.pdf)." 2017 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2017, pp. 988–996.

- Toft, Carl, Carl Olsson, and Fredrik Kahl. "[Long-Term 3D Localization and Pose from Semantic Labellings](http://www2.maths.lth.se/matematiklth/vision/publdb/reports/pdf/toft-etal-iccv-2017.pdf)." Proceedings of the IEEE International Conference on Computer Vision Workshops. 2017.

### 2016

- Atanasov, Nikolay, et al. "[Localization from semantic observations via the matrix permanent](https://escholarship.org/content/qt6185f664/qt6185f664.pdf)." The International Journal of Robotics Research 35.1-3 (2016): 73-99.

- D. P. Frost, O. Kähler and D. W. Murray, "[Object-Aware Bundle Adjustment For Correcting Monocular Scale Drift](http://www.robots.ox.ac.uk/~olaf/bib/frost16scaledrift.pdf)," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 4770-4776, doi: 10.1109/ICRA.2016.7487680.

- Gálvez-López, Dorian, et al. "[Real-time Monocular Object SLAM](https://arxiv.org/pdf/1504.02398.pdf)." Robotics and Autonomous Systems 75 (2016): 435-449.

- Li, Xuanpeng, and Rachid Belaroussi. "[Semi-Dense 3D Semantic Mapping from Monocular SLAM](https://arxiv.org/pdf/1611.04144.pdf)." arXiv preprint arXiv:1611.04144 (2016).

- Martínez-Gómez, Jesus, et al. "[Semantic localization in the PCL library](https://arxiv.org/pdf/1601.08158.pdf)." Robotics and Autonomous Systems 75 (2016): 641-648.

- Mu, Beipeng, et al. "[SLAM with Objects using a Nonparametric Pose Graph](https://arxiv.org/pdf/1704.05959.pdf)." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016.

- Yang, Shichao, et al. "[Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments](https://shichaoy.github.io/Publications/iros_2016_popslam.pdf)." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016. [[Code](https://github.com/shichaoy/pop_up_slam)]

### 2015

- N. D. Reddy, P. Singhal, V. Chari and K. M. Krishna, "[Dynamic Body VSLAM with Semantic Constraints](https://arxiv.org/pdf/1504.07269.pdf)," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 1897-1904, doi: 10.1109/IROS.2015.7353626.

### 2013

- Salas-Moreno, Renato F., et al. "[SLAM++: Simultaneous Localisation and Mapping at the Level of Objects](https://www.cv-foundation.org/openaccess/content_cvpr_2013/papers/Salas-Moreno_SLAM_Simultaneous_Localisation_2013_CVPR_paper.pdf)." 2013 IEEE Conference on Computer Vision and Pattern Recognition, 2013, pp. 1352–1359. [[Code](https://sourceforge.net/p/slam-plus-plus/wiki/Home/)]

### 2011

- Civera, Javier, et al. "[Towards Semantic SLAM using a Monocular Camera](https://ieeexplore.ieee.org/document/6094648)." 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2011.

## Semantic mapping

### Survey

- Häne, Christian, and Marc Pollefeys. "[An Overview of Recent Progress in Volumetric Semantic 3D Reconstruction](https://projet.liris.cnrs.fr/imagine/pub/proceedings/ICPR-2016/media/files/1815.pdf)." 2016 23rd International Conference on Pattern Recognition (ICPR). IEEE, 2016.

- Kostavelis, Ioannis, and Antonios Gasteratos. "[Semantic mapping for mobile robotics tasks: A survey](https://www.sciencedirect.com/science/article/abs/pii/S0921889014003030)." Robotics and Autonomous Systems 66 (2015): 86-103.

### 2020

- Dong, Wenbo, Pravakar Roy, and Volkan Isler. "[Semantic mapping for orchard environments by merging two‐sides reconstructions of tree rows](https://arxiv.org/pdf/1809.00075.pdf)." Journal of Field Robotics 37.1 (2020): 97-121.

- Rosu, Radu Alexandru, Jan Quenzel, and Sven Behnke. "[Semi-supervised Semantic Mapping Through Label Propagation with Semantic Texture Meshes](https://arxiv.org/pdf/1906.07029.pdf)." International Journal of Computer Vision 128.5 (2020): 1220-1238.

### 2019

- Bernreiter, Lukas, et al. "[Multiple Hypothesis Semantic Mapping for Robust Data Association](https://ieeexplore.ieee.org/document/8750845/)." IEEE Robotics and Automation Letters 4.4 (2019): 3255-3262.

- Grinvald, Margarita, et al. "[Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery](http://jenjenchung.github.io/anthropomorphic/Papers/Grinvald2019volumetric.pdf)." International Conference on Robotics and Automation, vol. 4, no. 3, 2019, pp. 3037–3044.

- Hiller, Markus, et al. "[Learning Topometric Semantic Maps from Occupancy Grids](https://arxiv.org/pdf/2001.03676.pdf)." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 4190–4197.

- Li, Jimmy, David Meger, and Gregory Dudek. "[Semantic Mapping for View-Invariant Relocalization](http://www.cim.mcgill.ca/~jimmyli/pubs/li2019icra.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.
- Narita, Gaku, et al. "[PanopticFusion: Online Volumetric Semantic Mapping at the Level of Stuff and Things](https://arxiv.org/pdf/1903.01177.pdf)." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 4205–4212.

- Rosu, Radu Alexandru, Jan Quenzel, and Sven Behnke. "[Semi-supervised semantic mapping through label propagation with semantic texture meshes](http://www.is.uni-bonn.de/papers/IJCV_2019_Rosu.pdf)." International Journal of Computer Vision (2019): 1-19.

- Yang, Sheng, et al. "[Probabilistic Projective Association and Semantic Guided Relocalization for Dense Reconstruction](http://users.cs.cf.ac.uk/Yukun.Lai/papers/ICRA-2019-densemapping.pdf)." 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019.

- Zhi, Shuaifeng, et al. [SceneCode: Monocular Dense Semantic Reconstruction Using Learned Encoded Scene Representations](https://arxiv.org/pdf/1903.06482.pdf). 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019, pp. 11776–11785.

### 2018

- Cherabier, Ian, et al. "[Learning Priors for Semantic 3D Reconstruction](http://www.cvlibs.net/publications/Cherabier2018ECCV.pdf)." Proceedings of the European conference on computer vision (ECCV). 2018.

- Nakajima, Yoshikatsu, et al. "[Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentation](http://hvrl.ics.keio.ac.jp/paper/pdf/international_Conference/2018/IROS2018_Nakajima.pdf)." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.

- M. Runz, M. Buffier and L. Agapito, "[MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects](http://visual.cs.ucl.ac.uk/pubs/maskfusion/ismar2018_maskfusion_web.pdf)," 2018 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Munich, Germany, 2018, pp. 10-20, doi: 10.1109/ISMAR.2018.00024. [[Code](https://github.com/martinruenz/maskfusion)]

- Sun, Li, et al. "[Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data](https://arxiv.org/pdf/1807.00925.pdf)." IEEE Robotics and Automation Letters 3.4 (2018): 3749-3756.

- Zeng, Zhen, et al. "[Semantic Mapping with Simultaneous Object Detection and Localization](https://arxiv.org/pdf/1810.11525.pdf)." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.

### 2017

- Häne, Christian, et al. "[Dense Semantic 3D Reconstruction](https://pdfs.semanticscholar.org/ae09/cef8a3e2a0c1c3dcbf5025b8192f7f4ae9eb.pdf)." IEEE transactions on pattern analysis and machine intelligence 39.9 (2017): 1730-1743.

- Li, Xuanpeng, et al. "[Fast semi-dense 3D semantic mapping with monocular visual SLAM](https://arxiv.org/pdf/1611.04144.pdf)." 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2017.

- Ma, Lingni, et al. "[Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras](https://arxiv.org/pdf/1703.08866.pdf)." 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.

- McCormac, John, et al. "[SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks](https://www.doc.ic.ac.uk/~sleutene/publications/Semanticfusion_ICRA17_Final.pdf)." 2017 IEEE International Conference on Robotics and automation (ICRA). IEEE, 2017. [[Code](https://github.com/seaun163/semanticfusion)]

- Romanoni, Andrea, et al. "[Multi-view Stereo with Single-View Semantic Mesh Refinement](https://openaccess.thecvf.com/content_ICCV_2017_workshops/papers/w13/Romanoni_Multi-View_Stereo_with_ICCV_2017_paper.pdf)." Proceedings of the IEEE International Conference on Computer Vision Workshops. 2017.

- Sünderhauf, Niko, et al. "[Meaningful maps with object-oriented semantic mapping](https://arxiv.org/pdf/1609.07849)." 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.

- Yang, Shichao, Yulan Huang, and Sebastian Scherer. "[Semantic 3D Occupancy Mapping through Efficient High Order CRFs](https://arxiv.org/pdf/1707.07388.pdf)." 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. [[Code](https://github.com/shichaoy/semantic_3d_mapping)]

### 2016

- Blaha, Maros, et al. "[Large-Scale Semantic 3D Reconstruction: An Adaptive Multi-Resolution Model for Multi-Class Volumetric Labeling](https://www.cv-foundation.org/openaccess/content_cvpr_2016/papers/Blaha_Large-Scale_Semantic_3D_CVPR_2016_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2016.

- Cherabier, Ian, et al. "[Multi-Label Semantic 3D Reconstruction Using Voxel Blocks](https://ieeexplore.ieee.org/abstract/document/7785136/)." 2016 Fourth International Conference on 3D Vision (3DV). IEEE, 2016.

- Savinov, Nikolay, et al. "[Semantic 3D Reconstruction with Continuous Regularization and Ray Potentials Using a Visibility Consistency Constraint](http://openaccess.thecvf.com/content_cvpr_2016/papers/Savinov_Semantic_3D_Reconstruction_CVPR_2016_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2016.

- Zhao, Zhe and Chen, Xiaoping. 2016. [Building 3D semantic maps for mobile robots using RGB-D camera](https://link.springer.com/article/10.1007%2Fs11370-016-0201-x). Intell. Serv. Robot. 9, 4 (October, 2016), 297–309.

### 2015

- Cabezas, Randi, Julian Straub, and John W. Fisher. "[Semantically-Aware Aerial Reconstruction from Multi-modal Data](http://openaccess.thecvf.com/content_iccv_2015/papers/Cabezas_Semantically-Aware_Aerial_Reconstruction_ICCV_2015_paper.pdf)." Proceedings of the IEEE International Conference on Computer Vision. 2015.

- Karimi Mahabadi, Rabeeh, Christian Hane, and Marc Pollefeys. "[Segment Based 3D Object Shape Priors](http://openaccess.thecvf.com/content_cvpr_2015/papers/Mahabadi_Segment_Based_3D_2015_CVPR_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2015.

- Savinov, Nikolay, et al. "[Discrete Optimization of Ray Potentials for Semantic 3D Reconstruction](http://people.inf.ethz.ch/ladickyl/ray_cvpr15.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2015.

- Sengupta, Sunando, and Sturgess, Paul, "[Semantic Octree: Unifying Recognition, Reconstruction and Representation via an Octree Constrained Higher Order MRF](https://ieeexplore.ieee.org/document/7139442)," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 1874-1879, doi: 10.1109/ICRA.2015.7139442.

- Stückler, Jörg, et al. "[Dense real-time mapping of object-class semantics from RGB-D video](http://www.ais.uni-bonn.de/papers/JRTIP_2014_Stueckler_RT_SemanticSLAM.pdf)." Journal of Real-Time Image Processing 10.4 (2015): 599-609.

- Vineet, Vibhav, et al. "[Incremental Dense Semantic Stereo Fusion for Large-Scale Semantic Scene Reconstruction](http://www.robots.ox.ac.uk/~tvg/publications/2015/dssfpaper.pdf)," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 75-82, doi: 10.1109/ICRA.2015.7138983.

### 2014

- Kundu, Abhijit, et al. "[Joint Semantic Segmentation and 3D Reconstruction from Monocular Video](https://link.springer.com/content/pdf/10.1007/978-3-319-10599-4_45.pdf)." European Conference on Computer Vision. Springer, Cham, 2014.

### 2013

- Häne, Christian, et al. "[Joint 3D Scene Reconstruction and Class Segmentation](https://www.cv-foundation.org/openaccess/content_cvpr_2013/papers/Hane_Joint_3D_Scene_2013_CVPR_paper.pdf)." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 2013.

- Valentin, Julien PC, et al. "[Mesh Based Semantic Modelling for Indoor and Outdoor Scenes](http://www.robots.ox.ac.uk/~tvg/publications/2013/MeshCVPR13.pdf)," 2013 IEEE Conference on Computer Vision and Pattern Recognition, Portland, OR, 2013, pp. 2067-2074, doi: 10.1109/CVPR.2013.269.

- Sengupta, Sunando, et al. "[Urban 3D Semantic Modelling Using Stereo Vision](http://www.robots.ox.ac.uk/~phst/Papers/2013/ICRA2013_1807.pdf)," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 580-585, doi: 10.1109/ICRA.2013.6630632.

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