持续更新修改中

2016.12.20

awesome-SLAM-list

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

• Tutorials-SLAM
  • [SLAM Tutorial & Survey](#SLAM Tutorial & Survey)
  • [Computer Vision Books](#Computer Vision Books)
  • [Video & Courses](#Video & Courses)
• Papers-SLAM
  • [Visual Odometry](#Visual Odometry)
  • ORB-SLAM
  • Mono-SLAM
  • LSD-SLAM
  • RGBD-SLAM
  • ElasticFusion
  • Others-SLAM
• OpenSource-SLAM
  • OpenSource-SLAM
  • SLAM-Migration
  • OpenSource-Minimization
  • Nearest Neighbor Search
  • Useful Lib
• Feature Detection & Description
  • [Feature Papers](#Feature Papers)
  • [Feature Libs](#Feature Libs)
• Datasets
• License
• Contributing
• Others

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

• Courses: Robotics Lecture Course (course code 333) | Author: Andrew Davison https://www.doc.ic.ac.uk/~ajd/Robotics/index.html

• Courses: Robotics | Author: The University of Pennsylvania

  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

• Blogs: 视觉SLAM | Author: 高翔 | Email:gaoxiang12@mails.tsinghua.edu.cn

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

#Papers-SLAM

Visual Odometry (image based only)

• Real-time simultaneous localisation and mapping with a single camera. A. J. Davison. ICCV 2003.

• Visual odometry. D. Nister, O. Naroditsky, and J. Bergen. CVPR 2004.

• Real time localization and 3d reconstruction. E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd. CVPR 2006.

• Parallel Tracking and Mapping for Small AR Workspaces. G. Klein, D. Murray. ISMAR 2007.

• Real-Time 6-DOF Monocular Visual SLAM in a Large-scale Environments. H. Lim, J. Lim, H. Jin Kim. ICRA 2014.

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

• Malaga Dataset
• Tum: Computer Vision Lab: RGB-D
• KITTI Dataset
• University of Freiburg: Department of Computer Science
• MRPT
• ICDL-NUIM

License

Contributing

• 泡泡机器人SLAM: 微信公众号：paopaorobot_slam
• 高翔博士：https://github.com/gaoxiang12
• 应高选：https://github.com/ygx2011
• awesome_3DReconstruction_list
• Markdown——入门指南
• awesome-computer-vision

Others

• awesome-deep-learning
• awesome-maching-learning