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2016.12.20

awesome-SLAM-list

=========================================== ##Contents

Tutorials-SLAM

SLAM Tutorial & Survey

OpenSLAM The OpenSLAM Team: Cyrill Stachniss, Udo Frese, Giorgio Grisetti

ICRA 2016 Aerial Robotics - (Visual odometry) D. Scaramuzza

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. D. Reid, J. J. Leonard. "The paper summarizes the outcome of the workshop “The Problem of Mobile Sensors: Setting future goals and indicators of progress for SLAM” held during the Robotics: Science and System (RSS) conference (Rome, July 2015)."

Visual Odometry: Part I - The First 30 Years and Fundamentals, D. Scaramuzza and F. Fraundorfer, IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011

Visual Odometry: Part II - Matching, robustness, optimization, and applications, F. Fraundorfer and D. Scaramuzza, IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012

MRPT SLAM

Computer Vision Books

Multiple View Geometry in Computer Vision Second Edition. Richard Hartley & Andrew Zisserman. 2004.

Computer Vision: Algorithms and Applications. R. Szeliski. 2010.

Development of Scientific Applications with the Mobile Robot Programming Toolkit (MRPT)

Video & Courses & Blogs

#Papers-SLAM

Visual Odometry (image based only)

ORB-SLAM

  • ORB-SLAM: a Versatile and Accurate Monocular SLAM System
  • ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

Mono-SLAM

  • MonoSLAM: Real-Time Single Camera SLAM
  • Inverse Depth Parametrization for Monocular SLAM

LSD-SLAM

  • LSD-SLAM: Large-Scale Direct Monocular SLAM
  • Large-Scale Direct SLAM for Omnidirectional Cameras
  • Large-Scale Direct SLAM with Stereo Cameras
  • Reconstructing Street-Scenes in Real-Time From a Driving Car

RGBD-SLAM

  • 3-D Mapping With an RGB-D Camera
  • An Evaluation of the RGB-D SLAM System
  • A Benchmark for the Evaluation of RGB-D SLAM Systems
  • Real-time dense appearance-based SLAM for RGB-D sensors
  • RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments
  • RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments

ElasticFusion

  • ElasticFusion: Dense SLAM Without A Pose Graph
  • ElasticFusion: Real-Time Dense SLAM and Light Source Estimation

Others-SLAM

  • DTAM: Dense Tracking and Mapping in Real-Time
  • Dense Visual SLAM for RGB-D Cameras
  • KinectFusion: Real-Time Dense Surface Mapping and Tracking ∗
  • Parallel Tracking and Mapping for Small AR Workspaces
  • SVO: Fast Semi-Direct Monocular Visual Odometry

OpenSource-SLAM

OpenSource-SLAM

ProjectSensorLinkLanguageLicenseVideo
MonoSLAM单目https://github.com/hanmekim/SceneLib2
PTAM单目https://www.robots.ox.ac.uk/~gk/PTAM
ORB-SLAM单目为主http://webdiis.unizar.es/~raulmur/orbslamC++GPLv3
LSD-SLAM单目为主http://vision.in.tum.de/research/vslam/lsdslamC++/ROSGNU General Public License
SVO单目https://github.com/uzh-rpg/rpg_svoC++/ROSGNU General Public License
DTAMRGB-Dhttps://github.com/anuranbaka/OpenDTAM
DVORGB-Dhttps://github.com/tum-vision/dvo_slam
DSO单目https://github.com/JakobEngel/dso
RTAB-MAP双目/RGB-Dhttps://github.com/introlab/rtabmap
RGBD-SLAM-V2RGB-Dhttps://github.com/felixendres/rgbdslam_v2
Elastic FusionRGB-Dhttps://github.com/mp3guy/ElasticFusion
Hector SLAM激光https://wiki.ros.org/hector_slam
GMapping激光https://wiki.ros.org/gmapping
OKVIS多目+IMUhttps://github.com/ethz-asl/okvis
ROVIO多目+IMUhttps://github.com/ethz-asl/rovio
COSLAMhttp://drone.sjtu.edu.cn/dpzou/project/coslam.phpC++GNU General Public License
DTSLAMhttps://github.com/plumonito/dtslamC++Modified BSD
REBVOhttps://github.com/JuanTarrio/rebvoC++GNU General Public License
Swarm SLAM
RBPF-SLAM
HMT-SLAM
EKF-SLAM
Graph-SLAM
ICP-SLAM

SLAM-Migration

IOS

ProjectPlatformLinkLanguageLicenseVideo
ygx2011/ORB_SLAM-IOSiOShttps://github.com/ygx2011/ORB_SLAM-IOSC++/Objective-C/Unity3DPlane-SLAM-AR-ios
egoist-sx/ORB_SLAM_iOSiOShttps://github.com/egoist-sx/ORB_SLAM_iOSC++/Objective-C

Android

ProjectPlatformLinkLanguageLicenseVideo
FangGet/ORB_SLAM2_AndroidAndroidhttps://github.com/FangGet/ORB_SLAM2_AndroidC++/java

ZED

ProjectPlatformLinkLanguageLicenseVideo
ygx2011/Stereo_SLAM_AROSX/ZEDhttps://github.com/ygx2011/Stereo_SLAM_ARC++/Objective-C
ygx2011/ZED_Stereo_ORBSLAMOSX/ZEDhttps://github.com/ygx2011/ZED_Stereo_ORBSLAMC++/Objective-C

OpenSource Minimization

ProjectLanguageLicense
G2OC++BSD License + L/GPL3 restriction
Ceres SolverC++BSD License
GTSAMC++BSD License
NLoptC++LGPL

ProjectLanguageLicense
ANNC++GNU General Public License
AnnoyC++Apache License
FLANNC++BSD License
NanoflannC++BSD License

Useful Lib

TODO:....

  • Eigen
  • ...

Feature Detection & Description

Feature Papers

Summarize: A survey of recent advances in visual feature detection Yali Li a,b, Shengjin Wang a,b,n, Qi Tian c, Xiaoqing Ding a,b

Category Classification Methods Papers
Blob Detection PDE Based LoG
DoG
DoH
Hessian–Laplacian
SIFT
SURF
Cer-SURF
DART
Rank-SIFT
RLOG
MO-GP
KAZE
A-KAZE
WADE
Template Based ORB
BRISK
FREAK

Feature Libs

TODO:....

ProjectDetectionDescription
AKAZExMSURF/MLDB
DARTxx
KAZExMSURF/MLDB
LIOP/MIOPx
LIFT (machine learning)xx
MROGHx
SIFTxx
SURFxx
SFOPx
...

"Real time" oriented methods

ProjectDetectionDescription
BRIEFx
BRISKxx
FASTx
FREAKx
FRIFxx
HIPSx
LATCHx
MOPSx
PhonySiftMulti-scale FastReduced Sift grid
ORBMultiscale FastOriented BRIEF

Datasets

License

Contributing

Others