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Requirements traceability (RT) is a core activity in Requirements Engineering. Various types of RT technologies have been extensively studied for decades. In this paper, we present a systematic literature review from 114 papers between 2006 and 2016 on RT techniques. We summarized 10 major challenges in current RT activities, and categorized existing RT techniques into 6 groups and 25 sub-groups. Moreover, we built mapping relations between these challenges and techniques, and identified 7 potential future research directions. Based on 83 empirical studies, the evaluations for technology transfer are conducted. The main conclusions are: (1) The “trustworthy” and “automated” challenges are the most widely investigated ones, while “scalable”, “coordinated”, “dynamic” and “lightweight” challenges receive much less attention; (2) “Trace link generation”, especially information retrieval-based (IR-based …