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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

Project Sensor Link Language License Video
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/orbslam C++ GPLv3
LSD-SLAM 单目为主 http://vision.in.tum.de/research/vslam/lsdslam C++/ROS GNU General Public License
SVO 单目 https://github.com/uzh-rpg/rpg_svo C++/ROS GNU General Public License
DTAM RGB-D https://github.com/anuranbaka/OpenDTAM
DVO RGB-D https://github.com/tum-vision/dvo_slam
DSO 单目 https://github.com/JakobEngel/dso
RTAB-MAP 双目/RGB-D https://github.com/introlab/rtabmap
RGBD-SLAM-V2 RGB-D https://github.com/felixendres/rgbdslam_v2
Elastic Fusion RGB-D https://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+IMU https://github.com/ethz-asl/okvis
ROVIO 多目+IMU https://github.com/ethz-asl/rovio
COSLAM http://drone.sjtu.edu.cn/dpzou/project/coslam.php C++ GNU General Public License
DTSLAM https://github.com/plumonito/dtslam C++ Modified BSD
REBVO https://github.com/JuanTarrio/rebvo C++ GNU General Public License
Swarm SLAM
RBPF-SLAM
HMT-SLAM
EKF-SLAM
Graph-SLAM
ICP-SLAM

SLAM-Migration

IOS

Project Platform Link Language License Video
ygx2011/ORB_SLAM-IOS iOS https://github.com/ygx2011/ORB_SLAM-IOS C++/Objective-C/Unity3D Plane-SLAM-AR-ios
egoist-sx/ORB_SLAM_iOS iOS https://github.com/egoist-sx/ORB_SLAM_iOS C++/Objective-C

Android

Project Platform Link Language License Video
FangGet/ORB_SLAM2_Android Android https://github.com/FangGet/ORB_SLAM2_Android C++/java

ZED

Project Platform Link Language License Video
ygx2011/Stereo_SLAM_AR OSX/ZED https://github.com/ygx2011/Stereo_SLAM_AR C++/Objective-C
ygx2011/ZED_Stereo_ORBSLAM OSX/ZED https://github.com/ygx2011/ZED_Stereo_ORBSLAM C++/Objective-C

OpenSource Minimization

Project Language License
G2O C++ BSD License + L/GPL3 restriction
Ceres Solver C++ BSD License
GTSAM C++ BSD License
NLopt C++ LGPL

Nearest Neighbor Search

Project Language License
ANN C++ GNU General Public License
Annoy C++ Apache License
FLANN C++ BSD License
Nanoflann C++ 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:....

Project Detection Description
AKAZE x MSURF/MLDB
DART x x
KAZE x MSURF/MLDB
LIOP/MIOP x
LIFT (machine learning) x x
MROGH x
SIFT x x
SURF x x
SFOP x
...

"Real time" oriented methods

Project Detection Description
BRIEF x
BRISK x x
FAST x
FREAK x
FRIF x x
HIPS x
LATCH x
MOPS x
PhonySift Multi-scale Fast Reduced Sift grid
ORB Multiscale Fast Oriented BRIEF

Datasets

License

Contributing

Others