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

arXiv: https://arxiv.org/abs/2405.01398 · HTML: https://mlsanity.com/paper/2405.01398/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 34 of its 157 references that are in the map.
- First posted on arXiv 22 Mar 2024.

## Builds on (most cited first, 30 of 34)

- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selection](https://mlsanity.com/paper/1912.02424/) (2019)
- [CenterMask : Real-Time Anchor-Free Instance Segmentation](https://mlsanity.com/paper/1911.06667/) (2019)
- [Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping](https://mlsanity.com/paper/1910.02490/) (2019)
- [Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs](https://mlsanity.com/paper/2101.06894/) (2021)
- [DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes](https://mlsanity.com/paper/1806.05620/) (2018)
- [MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects](https://mlsanity.com/paper/1804.09194/) (2018)
- [DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments](https://mlsanity.com/paper/1809.08379/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery](https://mlsanity.com/paper/1903.00268/) (2019)
- [Semantic Relation Reasoning for Shot-Stable Few-Shot Object Detection](https://mlsanity.com/paper/2103.01903/) (2021)
- [Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems](https://mlsanity.com/paper/2106.14386/) (2021)
- [Exploiting Edge-Oriented Reasoning for 3D Point-based Scene Graph Analysis](https://mlsanity.com/paper/2103.05558/) (2021)
- [LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics](https://mlsanity.com/paper/1804.05526/) (2018)
- [DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams](https://mlsanity.com/paper/1909.12198/) (2019)
- [SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints](https://mlsanity.com/paper/2109.04884/) (2021)
- [Probabilistic Data Association via Mixture Models for Robust Semantic SLAM](https://mlsanity.com/paper/1909.11213/) (2019)
- [Semantic 3D Occupancy Mapping through Efficient High Order CRFs](https://mlsanity.com/paper/1707.07388/) (2017)
- [Place recognition survey: An update on deep learning approaches](https://mlsanity.com/paper/2106.10458/) (2021)
- [Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentation](https://mlsanity.com/paper/1803.02784/) (2018)
- [SLAM with Objects using a Nonparametric Pose Graph](https://mlsanity.com/paper/1704.05959/) (2017)
- [Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility Graphs](https://mlsanity.com/paper/2311.12245/) (2023)
- [Robot Navigation in Unseen Spaces using an Abstract Map](https://mlsanity.com/paper/2001.11684/) (2020)
- [A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM](https://mlsanity.com/paper/1809.05225/) (2018)
- [Distributed Consistent Multi-Robot Semantic Localization and Mapping](https://mlsanity.com/paper/2007.02611/) (2020)
- [Onto4MAT: A Swarm Shepherding Ontology for Generalised Multi-Agent Teaming](https://mlsanity.com/paper/2203.12955/) (2022)
- [Utilizing Semantic Visual Landmarks for Precise Vehicle Navigation](https://mlsanity.com/paper/1801.00858/) (2018)

## 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