README.md

Paper Review

Abstract

Expect to read a paper per day.

Content

GNSS

• GNSS Overall Technology

  • RTK: Where Every GNSS Matters
  • GNSS Technique

• GNSS NLOS/Multipath

  • Robust Positioning in the Presence of Multipath and NLOS Signals
  • GNSS Multipath mitigation via sparse estimation : for the continuous work, please find the citations of this work in Google Scholar (who cite this work!)

• GNSS Integrity

  • Integrity of Laser-Based Feature Extraction and Data Association
  • Continuity Risk of Feature Extraction for Laser-Based Navigation
  • Kalman Filter-based INS Monitor to Detect GNSS Spoofers Capable of Tracking Aircraft Position
  • Integrity for GPS/LiDAR Fusion Utilizing a RAIM Framework
  • Snapshot Residual and Kalman Filter based Fault Detection and Exclusion Schemes for Robust Railway Navigation
  • Towards Navigation Safety for Autonomous Cars

• GNSS RTK

  • Tokyo University, Prof. Kubo

    • Precise and Robust RTK-GNSS Positioning in Urban Environments with Dual-Antenna Configuration
    • RTKLIB: An Open Source Program Package for GNSS Positioning [Github] [Manual] [Tutorial Demo]

  • Tsinghua University, Prof. Lu mingquan

    • Precise and Robust RTK-GNSS Positioning in Urban Environments with Dual-Antenna Configuration

  • Wuhan University, Prof. Li Bijun

    • A Vision-assisted GNSS-RTK Ambiguity FixingMethod Considering Visual Lane Line Ambiguity

  • Tongji University, TBD

    • A Vision-assisted GNSS-RTK Ambiguity FixingMethod Considering Visual Lane Line Ambiguity

  • SJTU University, Prof. Li Bijun

    • A Graph Approach to Dynamic Fusion of Sensors, by Qianxun

  • Collections

    • Deep urban unaided precise GNSS vehicle positioning
    • Prediction of RTK-GNSS Performance in Urban Environments Using a 3D model and Continuous LoS Method

  • LAMBDA Algorithms and its variants

    • On the Best Integer Equivariant Estimator for Low-cost Single-frequency Multi-GNSS RTK Positioning

  • Urban GNSS RTK

    • Cooperative GNSS RTK: improving the geometry of constraints
    • A LiDAR aiding ambiguity resolution method using fuzzy one-to-many feature matching: : improving the geometry of constraints via landamrks from HD Maps
    • High-Precision Positioning and Mapping using Feature-based RTK/LiDAR/INS Integrated System for Urban Environments: : improving the geometry of constraints by integrating the LiDAR constraints -Network-RTK Positioning for Automated Driving (NPAD)

• GNSS SPP/PPP with FGO and Robust Model

  • Tim Pfeifer, Technique University of Chemniz, German

    • Incrementally learned Mixture Models for GNSS Localization
    • Expectation-Maximization for Adaptive Mixture Models in Graph Optimization
    • Robust Sensor Fusion with Self-tuning Mixture Models

  • Ryan Watson, West Viginia University

    • Robust Incremental State Estimation through Covariance Adaptation
    • Uncertainty Model Estimation in an Augmented Data Space for Robust State Estimation
    • Enabling Robust State Estimation through Measurement Error Covariance Adaptation
    • Batch Measurement Error Covariance Estimation for Robust Localization
    • Evaluation of kinematic precise point positioning convergence with an incremental graph optimizer
    • Robust Navigation In GNSS Degraded Environment Using Graph Optimization
    • Flight Data Assessment of Tightly-Coupled PPP/INS using Real-Time Products

  • Sparse estimation for the NLOS bias estimation

    • GPS multipath and NLOS mitigation for relative positioning in urban environments
    • Multipath Mitigation for GNSS Positioning in an Urban Environment Using Sparse Estimation

GNSS/INS Integration

• LiDAR_GNSS_Mapping with GNSS/INS integration
• GNSSINSLib
• pose ekf with loosely coupled integration of GNSS/INS/Mag/Baro
• GNSS INS integration using factor graph optimization from Tim, the INS calculation is based on SINS
• KalmanFilter-Vehicle-GNSS-INS from Bonn University
• Vision-based approach for GPS Localization Improvement in Semi-Obstructed Areas
• Eagleye is an open-source software for vehicle localization utilizing GNSS and IMU

Robust Optimization with Outliers

• Huu Le, Postdoctoral Research Fellow at the Department of Electrical Engineering, Chalmers University of Technology
• ASKER - Adaptive Scaling of KERnels: Accelerated Graduated filtering
• graduated non-convexity for robust spatial perception: Best Student Awards, ICRA 2020
• Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications: open the next page for robust estimation
• Robust map optimization using dynamic covariance scaling:first state of the art algorithm for robust estimation

LiDAR SLAM

• LOAM

  • LOAM: Lidar Odometry and Mapping in Real-time
    • first paper propose LOAM
  • Tightly Coupled 3D Lidar Inertial Odometry and Mapping [Code]
  • LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain [Code]
  • Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV [Code]
  • Optimized LOAM Using Ground Plane Constraints and SegMatch-Based Loop Detection
  • Advanced implementation of LOAM [Code]

• LOAM+ multiple Sensors

  • Low-Cost GPS-Aided LiDAR State Estimation and Map Building: Day 06th, Jan 2020
  • A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
  • Real-time, environmentally-robust 3d lidar localization
  • LINS: A Lidar-Inerital State Estimator for Robust and Fast Navigation
  • LiDAR and Inertial Fusion for Pose Estimation by Non-linear Optimization

• NDT

  • A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement [Code]
  • 3d lidar slam package based on NDT [Code]

• LiDAR Camera Inertial Fusion

  • LIC-Fusion: LiDAR-Inertial-Camera Odometry
  • LIPS: LiDAR-Inertial 3D Plane SLAM
  • ndt_mapping_localization

  C++ Implementation of the NDT mapping and localization algorithm for ADV on ROS.
  
  Two packages available in this implementation :
  
  vehicle_mapping : Pointcloud registration using the 3D NDT algorithm assisted by an EKF.
  vehicle_localization : 6-DoF Localization using the 3D NDT algorithm assisted by an EKF.
  

  ndt_mapping and matching from Autoware

Visual/inertial SLAM

• VISUAL-INERTIAL NAVIGATION: A CONCISE REVIEW
• GSLAM (A General SLAM Framework and BenchMark)
• Visual SLAM Based on Dynamic Object Removal

Sensor Fusion Framework

• Tightly Coupled 3D Lidar Inertial Odometry and Mapping [Code]
• A Robust and Versatile Monocular Visual-Inertial State Estimator [Code] -GNSS/INS/LiDAR-SLAM Integrated Navigation System Based on Graph Optimization

Improve factor graph optimization

• MASAT intial guess for SLAM [Code]

Autonomous Driving

• Stanford Self Driving Car Code [Code]

Cooperative positioning && Wireless communication

• TBD
• Collaborative SLAM Patrik Schmuck from ETHZ
• Secure Location-Aware Authentication and Communication for Intelligent Transportation Systems

Navigation Safety

• TBD

Contact

• Author: Weisong Wen, PhD Candidate in Hong Kong Polytechnic University.
• Email: weisongwen@weisongwen
• Affiliation: Intelligent Positioning and Navigation Laboratory