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OpenSLAM
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awesome-SLAM-list

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2016.12.20

awesome-SLAM-list

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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

https://www.coursera.org/specializations/robotics

  • Robotics:Aerial Robotics
  • Robotics:Computational Motion Planning
  • Robotics:Mobility
  • Robotics:Perception
  • Robotics:Estimation and Learning
  • Robotics:Capstone

    • Courses: 视觉SLAM十四讲 | Author: 高翔

https://github.com/gaoxiang12/slambook

http://www.cnblogs.com/gaoxiang12/tag/视觉SLAM/

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/rpgsvo | C++/ROS | GNU General Public License | | | DTAM | RGB-D | https://github.com/anuranbaka/OpenDTAM | | | | | DVO | RGB-D | https://github.com/tum-vision/dvoslam | | | | | 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/rgbdslamv2 | | | | | Elastic Fusion | RGB-D | https://github.com/mp3guy/ElasticFusion | | | | | Hector SLAM | 激光 | https://wiki.ros.org/hectorslam | | | | | 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/ORBSLAM-IOS | C++/Objective-C/Unity3D | | Plane-SLAM-AR-ios | | egoist-sx/ORBSLAMiOS | iOS | https://github.com/egoist-sx/ORBSLAM_iOS | C++/Objective-C | | |

Android

| Project | Platform | Link | Language | License | Video | | ------------ | -------- | --- | --- | --- | --- | | FangGet/ORBSLAM2Android | Android | https://github.com/FangGet/ORBSLAM2Android | C++/java | | |

ZED

| Project | Platform | Link | Language | License | Video | | ------------ | -------- | --- | --- | --- | --- | | ygx2011/StereoSLAMAR | OSX/ZED | https://github.com/ygx2011/StereoSLAMAR | C++/Objective-C | | | | ygx2011/ZEDStereoORBSLAM | OSX/ZED | https://github.com/ygx2011/ZEDStereoORBSLAM | 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

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