GitHub - lishuwei0424/Awesome-VSLAM-Research: VSLAM Research 不断更新

paper: Yijia H , Ji Z , Yue G , et al. PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features[J]. Sensors, 2018, 18(4):1159-.

code: https://github.com/HeYijia/PL-VIO

paper: Gomez-Ojeda R , Briales J , Gonzalez-Jimenez J . PL-SVO: Semi-direct Monocular Visual Odometry by combining points and line segments[C]// IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE, 2016.

code：https://github.com/rubengooj/pl-svo
paper: Gomez-Ojeda R , Gonzalez-Jimenez J . Robust stereo visual odometry through a probabilistic combination of points and line segments[C]// 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016.
paper: PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

code: https://github.com/rubengooj/pl-slam

三、经典SLAM系统

3.1 VSLAM

1. PTAM

论文：Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C]//Mixed and Augmented Reality, 2007. ISMAR 2007. 6th IEEE and ACM International Symposium on. IEEE, 2007: 225-234.
代码：https://github.com/Oxford-PTAM/PTAM-GPL
工程地址：http://www.robots.ox.ac.uk/~gk/PTAM/
作者其他研究：http://www.robots.ox.ac.uk/~gk/publications.html

2. S-PTAM（双目 PTAM）

论文：Taihú Pire,Thomas Fischer, Gastón Castro, Pablo De Cristóforis, Javier Civera and Julio Jacobo Berlles. S-PTAM: Stereo Parallel Tracking and Mapping. Robotics and Autonomous Systems, 2017.
代码：https://github.com/lrse/sptam
作者其他论文：Castro G, Nitsche M A, Pire T, et al. Efficient on-board Stereo SLAM through constrained-covisibility strategies[J]. Robotics and Autonomous Systems, 2019.

3. MonoSLAM

论文：Davison A J, Reid I D, Molton N D, et al. MonoSLAM: Real-time single camera SLAM[J]. IEEE transactions on pattern analysis and machine intelligence, 2007, 29(6): 1052-1067.
代码：https://github.com/hanmekim/SceneLib2

4. ORB-SLAM2

论文：Mur-Artal R, Tardós J D. Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras[J]. IEEE Transactions on Robotics, 2017, 33(5): 1255-1262.
代码：https://github.com/raulmur/ORB_SLAM2
作者其他论文：
- 单目半稠密建图：Mur-Artal R, Tardós J D. Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM[C]//Robotics: Science and Systems. 2015, 2015.
- VIORB：Mur-Artal R, Tardós J D. Visual-inertial monocular SLAM with map reuse[J]. IEEE Robotics and Automation Letters, 2017, 2(2): 796-803.
- 多地图：Elvira R, Tardós J D, Montiel J M M. ORBSLAM-Atlas: a robust and accurate multi-map system[J]. arXiv preprint arXiv:1908.11585, 2019.

以下5, 6, 7, 8几项是 TUM 计算机视觉组全家桶，官方主页：https://vision.in.tum.de/research/vslam/dso

5. DSO

论文：Engel J, Koltun V, Cremers D. Direct sparse odometry[J]. IEEE transactions on pattern analysis and machine intelligence, 2017, 40(3): 611-625.
代码：https://github.com/JakobEngel/dso
双目 DSO：Wang R, Schworer M, Cremers D. Stereo DSO: Large-scale direct sparse visual odometry with stereo cameras[C]//Proceedings of the IEEE International Conference on Computer Vision. 2017: 3903-3911.
VI-DSO：Von Stumberg L, Usenko V, Cremers D. Direct sparse visual-inertial odometry using dynamic marginalization[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018: 2510-2517.

6. LDSO

高翔在 DSO 上添加闭环的工作
论文：Gao X, Wang R, Demmel N, et al. LDSO: Direct sparse odometry with loop closure[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018: 2198-2204.
代码：https://github.com/tum-vision/LDSO

7. LSD-SLAM

论文：Engel J, Schöps T, Cremers D. LSD-SLAM: Large-scale direct monocular SLAM[C]//European conference on computer vision. Springer, Cham, 2014: 834-849.
代码：https://github.com/tum-vision/lsd_slam

8. DVO-SLAM

论文：Kerl C, Sturm J, Cremers D. Dense visual SLAM for RGB-D cameras[C]//2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013: 2100-2106.
代码 1：https://github.com/tum-vision/dvo_slam
代码 2：https://github.com/tum-vision/dvo
其他论文：
- Kerl C, Sturm J, Cremers D. Robust odometry estimation for RGB-D cameras[C]//2013 IEEE international conference on robotics and automation. IEEE, 2013: 3748-3754.
- Steinbrücker F, Sturm J, Cremers D. Real-time visual odometry from dense RGB-D images[C]//2011 IEEE international conference on computer vision workshops (ICCV Workshops). IEEE, 2011: 719-722.

9. SVO

苏黎世大学机器人与感知课题组
论文：Forster C, Pizzoli M, Scaramuzza D. SVO: Fast semi-direct monocular visual odometry[C]//2014 IEEE international conference on robotics and automation (ICRA). IEEE, 2014: 15-22.
代码：https://github.com/uzh-rpg/rpg_svo
Forster C, Zhang Z, Gassner M, et al. SVO: Semidirect visual odometry for monocular and multicamera systems[J]. IEEE Transactions on Robotics, 2016, 33(2): 249-265.

10. openvslam

论文：Sumikura S, Shibuya M, Sakurada K. OpenVSLAM: A Versatile Visual SLAM Framework[C]//Proceedings of the 27th ACM International Conference on Multimedia. 2019: 2292-2295.
代码：https://github.com/xdspacelab/openvslam ；文档

3.2 VIO

1. msckf_vio

论文：Sun K, Mohta K, Pfrommer B, et al. Robust stereo visual inertial odometry for fast autonomous flight[J]. IEEE Robotics and Automation Letters, 2018, 3(2): 965-972.
代码：https://github.com/KumarRobotics/msckf_vio ；Video

2. rovio

论文：Bloesch M, Omari S, Hutter M, et al. Robust visual inertial odometry using a direct EKF-based approach[C]//2015 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, 2015: 298-304.
代码：https://github.com/ethz-asl/rovio ；Video

3. R-VIO

论文：Huai Z, Huang G. Robocentric visual-inertial odometry[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018: 6319-6326.
代码：https://github.com/rpng/R-VIO ；Video

4. okvis

论文：Leutenegger S, Lynen S, Bosse M, et al. Keyframe-based visual–inertial odometry using nonlinear optimization[J]. The International Journal of Robotics Research, 2015, 34(3): 314-334.
代码：https://github.com/ethz-asl/okvis

5. VIORB

论文：Mur-Artal R, Tardós J D. Visual-inertial monocular SLAM with map reuse[J]. IEEE Robotics and Automation Letters, 2017, 2(2): 796-803.
代码：https://github.com/jingpang/LearnVIORB （VIORB 本身是没有开源的，这是王京大佬复现的一个版本）

6. VINS-mono

论文：Qin T, Li P, Shen S. Vins-mono: A robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 2018, 34(4): 1004-1020.
代码：https://github.com/HKUST-Aerial-Robotics/VINS-Mono
双目版 VINS-Fusion：https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
移动段 VINS-mobile：https://github.com/HKUST-Aerial-Robotics/VINS-Mobile

7. VINS-RGBD

论文：Shan Z, Li R, Schwertfeger S. RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots[J]. Sensors, 2019, 19(10): 2251.
代码：https://github.com/STAR-Center/VINS-RGBD ；Video

8. Open-VINS

论文：Geneva P, Eckenhoff K, Lee W, et al. Openvins: A research platform for visual-inertial estimation[C]//IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications, Macau, China. IROS 2019.
代码：https://github.com/rpng/open_vins

四、优秀作者与实验室

4.1 Julian Straub MIT,facebook VR 实验室

个人主页 Google Scholar Github
人工 3D 感知方面，曼哈顿世界，很多开源方案

4.2 牛津大学 Duncan Frost（PTAM 课题组）

谷歌学术
github：
- https://github.com/duncanfrost/PSLAM
- https://github.com/duncanfrost/DenseDepth
论文：
- 博士论文：Long Range Monocular SLAM 2017
- Recovering Stable Scale in Monocular SLAM Using Object-Supplemented Bundle Adjustment[J]. IEEE Transactions on Robotics, 2018
- Direct Line Guidance Odometry[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018
- Object-aware bundle adjustment for correcting monocular scale drift[C]//Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016

4.3 Yoshikatsu NAKAJIMA (中島由勝)

深度学习状态估计、语义分割、目标检测
个人主页
论文：
- Yoshikatsu Nakajima and Hideo Saito, Efficient Object-oriented Semantic Mapping with Object Detector, IEEE Access, Vol.7, pp.3206-3213, 2019
- Yoshikatsu Nakajima and Hideo Saito, Simultaneous Object Segmentation and Recognition by Merging CNN Outputs from Uniformly Distributed Multiple Viewpoints, IEICE Transactions on Information and Systems, Vol.E101-D, No.5, pp.1308-1316, 2018
- Yoshikatsu Nakajima and Hideo Saito, Robust camera pose estimation by viewpoint classification using deep learning, Computational Visual Media (Springer), DOI 10.1007/s41095-016-0067-z, Vol.3, No.2, pp.189-198, 2017 [Best Paper Award]

4.4 Alejo Concha（苏黎世Oculus VR）

介绍：单目稠密建图，布局平面，超像素，曼哈顿世界
个人主页 谷歌学术 Github
论文：
- Marta Salas, Wajahat Hussain, Alejo Concha, Luis Montano, Javier Civera, J. M. M. Montiel.Layout Aware Visual Tracking and Mapping (pdf) (video 1) (video 2). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS15), Hamburg, Germany, 2015.

4.5 波兹南理工大学移动机器人实验室

有很多基于RGB-D平面的稠密建图工作
论文：
- Wietrzykowski J, Skrzypczyński P. A probabilistic framework for global localization with segmented planes[C]//Mobile Robots (ECMR), 2017 European Conference on. IEEE, 2017: 1-6.
- Wietrzykowski J, Skrzypczyński P. PlaneLoc: Probabilistic global localization in 3-D using local planar features[J]. Robotics and Autonomous Systems, 2019.
开源代码：

4.6 Xiaohu Lu

俄亥俄州立大学在读博士
- github：https://github.com/xiaohulugo
- 相关作者：Yahui Liu
消失点

检测
- Lu X, Yaoy J, Li H, et al. 2-Line Exhaustive Searching for Real-Time Vanishing Point Estimation in Manhattan World[C]//Applications of Computer Vision (WACV), 2017 IEEE Winter Conference on. IEEE, 2017: 345-353.
- 代码：https://github.com/xiaohulugo/VanishingPointDetection
点云分割聚类
- Lu X, Yao J, Tu J, et al. PAIRWISE LINKAGE FOR POINT CLOUD SEGMENTATION[J]. ISPRS Annals of Photogrammetry, Remote Sensing & Spatial Information Sciences, 2016, 3(3).
- 代码：https://github.com/xiaohulugo/PointCloudSegmentation
点云中3D 线检测
- Lu X, Liu Y, Li K. Fast 3D Line Segment Detection From Unorganized Point Cloud[J]. arXiv preprint arXiv:1901.02532, 2019.
- 代码：https://github.com/xiaohulugo/3DLineDetection
曼哈顿结构化环境的

单目 SLAM
- Li H, Yao J, Bazin J C, et al. A monocular SLAM system leveraging structural regularity in Manhattan world[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018: 2518-2525.

4.7 澳大利亚机器人视觉中心 Yasir Latif

机器人视觉中心
团队代表作：SLAM 的过去现在和未来，Meaningful Maps，平面物体路标，Rat SLAM，SeqSLAM
Yasir Latif：作者主页 谷歌学术
Lachlan Nicholson：二次平面作为物体SLAM的路标 谷歌学术
Michael Milford：Rat SLAM，SeqSLAM 谷歌学术
论文：
- Cadena C, Carlone L, Carrillo H, et al. Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age[J]. IEEE Transactions on Robotics, 2016, 32(6): 1309-1332.
- Sünderhauf N, Pham T T, Latif Y, et al. Meaningful maps with object-oriented semantic mapping[C]//Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on. IEEE, 2017: 5079-5085.
- Hosseinzadeh M, Li K, Latif Y, et al. Real-Time Monocular Object-Model Aware Sparse SLAM[J]. arXiv preprint arXiv:1809.09149, 2018.实时单目目标-模型感知的稀疏SLAM
- Hosseinzadeh M, Latif Y, Pham T, et al. Towards Semantic SLAM: Points, Planes and Objects[J]. arXiv preprint arXiv:1804.09111, 2018.基于二次曲面和平面的结构感知SLAM

4.8 西班牙马拉加大学博士生：RubénGómezOjeda

计算机视觉和移动机器人专业，点线 SLAM；
个人主页 谷歌学术 Github
代表作：PL-SVO，stvo-pl，pl-slam

4.9法国运输，规划和网络科学与技术研究所博士：Nicolas Antigny

主要研究城市环境下单目 SLAM，基于场景和已知物体的大环境增强现实，传感器融合
researchgate YouTube

4.10 三星 AI 实验室（莫斯科）：Alexander Vakhitov

点线融合
个人主页：https://sites.google.com/site/alexandervakhitov/
相关

论文：
- Vakhitov A, Lempitsky V. Learnable Line Segment Descriptor for Visual SLAM[J]. IEEE Access, 2019.
- Vakhitov A, Lempitsky V, Zheng Y. Stereo relative pose from line and point feature triplets[C]//Proceedings of the European Conference on Computer Vision (ECCV). 2018: 648-663.
- Pumarola A, Vakhitov A, Agudo A, et al. PL-SLAM: Real-time monocular visual SLAM with points and lines[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017: 4503-4508.
- Vakhitov A, Funke J, Moreno-Noguer F. Accurate and linear time pose estimation from points and lines[C]//European Conference on Computer Vision. Springer, Cham, 2016: 583-599.
Github：https://github.com/alexander-vakhitov

4.11 苏黎世联邦理工学院计算机视觉与几何实验室：Prof. Marc Pollefeys

三维语义重建、多相机协同 SLAM
实验室主页：http://www.cvg.ethz.ch/people/faculty/
实验室博士：http://people.inf.ethz.ch/liup/ ， http://people.inf.ethz.ch/sppablo/ ， http://people.inf.ethz.ch/schoepst/publications/ ， https://www.nsavinov.com/ , http://people.inf.ethz.ch/cian/Publications/

4.12 香港中文大学机器人、感知与 AI 实验室

实验室主页：http://www.ee.cuhk.edu.hk/~qhmeng/research.html
动态 SLAM ，医疗服务型机器人

4.13 微软高级工程师、苏黎世联邦理工：Johannes L. Schönberger

主要研究：基于图像的 3D 建模、 SFM、立体视觉、语义
个人主页 谷歌学术
主要文章：

4.14 美国犹他大学计算机学院：Srikumar Ramalingam

主要研究：三维重建、语义分割、视觉 SLAM、图像定位、深度学习
个人主页 谷歌学术
主要文章：
- ICRA 2013 Point-plane SLAM for hand-held 3D sensors
- CVPR 2019 Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment

4.15 德国马克斯普朗克智能系统研究所：Jörg Stückler

主要研究：三维感知、深度学习
实验室主页 谷歌学术
主要文章：
- 2015:Large-scale direct SLAM with stereo cameras
- 2019:EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association

4.16 麻省理工学院航空航天控制实验室

主要研究：飞机，航天器和地面车辆的自动系统和控制设计相关
实验室主页
主要文章：
- Mu B, Liu S Y, Paull L, et al. Slam with objects using a nonparametric pose graph[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016: 4602-4609.
- ICRA 2019：Robust Object-Based SLAM for High-Speed Autonomous Navigation
- ICRA 2019：Efficient Constellation-Based Map-Merging for Semantic SLAM
- IJRR 2018：Reliable Graphs for SLAM
- Resource-aware collaborative SLAM