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Advancing Frontiers in SLAM: A Survey of Symbolic Representation and Human-Machine Teaming in Environmental Mapping

arXiv 2405.01398 ↗First posted 22 Mar 2024cs.AIcited by 0

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Abstract (arXiv)

This survey paper presents a comprehensive overview of the latest advancements in the field of Simultaneous Localization and Mapping (SLAM) with a focus on the integration of symbolic representation of environment features. The paper synthesizes research trends in multi-agent systems (MAS) and human-machine teaming, highlighting their applications in both symbolic and sub-symbolic SLAM tasks. The survey emphasizes the evolution and significance of ontological designs and symbolic reasoning in creating sophisticated 2D and 3D maps of various environments. Central to this review is the exploration of different architectural approaches in SLAM, with a particular interest in the functionalities and applications of edge and control agent architectures in MAS settings. This study acknowledges the growing demand for enhanced human-machine collaboration in mapping tasks and examines how these collaborative efforts improve the accuracy and efficiency of environmental mapping

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 34 of its 157 references that are in the map. First posted on arXiv 22 Mar 2024.

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References · 34

  1. 2020YOLOv4: Optimal Speed and Accuracy of Object Detectioncited by 1,624
  2. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  3. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  4. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  5. 2019Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selectioncited by 539
  6. 2019CenterMask : Real-Time Anchor-Free Instance Segmentationcited by 200
  7. 2019Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mappingcited by 181
  8. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  9. 2018DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenescited by 130
  10. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  11. 2018DS-SLAM: A Semantic Visual SLAM towards Dynamic Environmentscited by 90
  12. 2018QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAMcited by 86
22 more
  1. 2019Volumetric Instance-Aware Semantic Mapping and 3D Object Discoverycited by 79
  2. 2021Semantic Relation Reasoning for Shot-Stable Few-Shot Object Detectioncited by 79
  3. 2021Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systemscited by 53
  4. 2021Exploiting Edge-Oriented Reasoning for 3D Point-based Scene Graph Analysiscited by 47
  5. 2018LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semanticscited by 34
  6. 2019DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teamscited by 28
  7. 2021SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraintscited by 19
  8. 2019Probabilistic Data Association via Mixture Models for Robust Semantic SLAMcited by 16
  9. 2017Semantic 3D Occupancy Mapping through Efficient High Order CRFscited by 15
  10. 2021Place recognition survey: An update on deep learning approachescited by 13
  11. 2018Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentationcited by 8
  12. 2017SLAM with Objects using a Nonparametric Pose Graphcited by 7
  13. 2023Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility Graphscited by 7
  14. 2020Robot Navigation in Unseen Spaces using an Abstract Mapcited by 6
  15. 2018A Variational Observation Model of 3D Object for Probabilistic Semantic SLAMcited by 5
  16. 2020Distributed Consistent Multi-Robot Semantic Localization and Mappingcited by 4
  17. 2022Onto4MAT: A Swarm Shepherding Ontology for Generalised Multi-Agent Teamingcited by 4
  18. 2018Utilizing Semantic Visual Landmarks for Precise Vehicle Navigationcited by 3
  19. 2020Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedbackcited by 3
  20. 2022Efficient quantitative assessment of robot swarms: coverage and targeting L'evy strategiescited by 2
  21. 2019A Realtime Autonomous Robot Navigation Framework for Human like High-level Interaction and Task Planning in Global Dynamic Environmentcited by 1
  22. 2021An ontology-based approach to data exchanges for robot navigation on construction sitescited by 1

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