持续更新修改中

2016.12.19

SlamList

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

• Tutorials-SLAM
• Papers-SLAM
• OpenSource-SLAM
• Feature detection description
• Datasets with ground truth - Reproducible research
• License
• Contributing

Tutorials-SLAM

SLAM Tutorial & survey

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

Computer vision books

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

Video

视觉SLAM十四讲 视觉SLAM十四讲：https://github.com/gaoxiang12

#Papers-SLAM

SLAM/VO

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.

OpenSource-SLAM

Project	Sensor	Link	Other	Language	License
MonSLAM	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

OpenSource minimization

Project	Language	License
CERES SOLVER	C++	BSD License
GTSAM	C++	BSD License
G2O	C++	BSD License + L/GPL3 restriction
NLOPT	C++	LGPL

更新中

1.泡泡机器人SLAM 微信公众号：paopaorobot_slam

2.高翔博士：https://github.com/gaoxiang12