SLAM code, paper, project collections
Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics,2017
YGZ-stereo-inertial SLAM, LK optical flow + sliding window bundle adjustment
VIORB, An implementation of Visual Inertial ORBSLAM based on ORB-SLAM2
ORB_SLAM2 with map load/save function
Viewer for maps from ORB-SLAM2 Osmap
ORB_SLAM2_SSD_Semantic, 动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库
Add line feature based ORB-SLAM2
RGBD-SLAM with Point and Line Features, developed based on ORB_SLAM2
Windows version ORBSLAM2,Easy built by visual studio
ORB-SLAM-Android, test on Sony Xperia Z
Stereo visual SLAM using both point and line segment features
2017,PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments
2016 IROS, PL-SVO: Semi-direct monocular visual odometry by combining points and line segments.
2016 ICRA, Robust stereo visual odometry through a probabilistic combination of points and line segments. In Robotics and Automation
Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features
Add line feature based ORB-SLAM2
RGBD-SLAM with Point and Line Features, developed based on the famous ORB_SLAM2
ICPR 2018, Incremental 3D Line Segment Extraction for Surface Reconstruction from Semi-dense SLAM
2015 IEEE Transactions on Robotics, Building a 3-D Line-Based Map Using Stereo SLAM
3D LIDAR-based Graph SLAM, real-time 6DOF SLAM using a 3D LIDAR 2019, Advanced Robotic Systems, [A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems
ICRA 2019,A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach
IROS 2019, SuMa++: Efficient LiDAR-based Semantic SLAM
Advanced implementation of LOAM, uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and LOAM_NOTED
IROS 2018, LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
CODE, PAPER, Video demo, Gif demo
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar
a ROS package for real-time 3D slam. It is based on NDT registration algorithm. With loop detection and back-end optimization, a map with global consistency can be generated.
Google Cartographer Real-time 2D and 3D SLAM across multiple platforms and sensor configurations.
Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016
W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016
Laser Odometry And Mapping (LOAM) SLAM ROS package for 3D Velodyne VLP-16 laser scanner
J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014
2018 IROS, LIMO: Lidar-Monocular Visual Odometry
An open source platform for visual-inertial navigation research.
2019 IROS, OpenVINS: A Research Platform for Visual-Inertial Estimation
- A monocular, stereo, and RGBD visual SLAM system
- Created maps can be stored and loaded
2014 ICRA, Volumetric 3D Mapping in Real-Time on a CPU
Obtain high-quality 3D reconstructions from low-cost RGB-D sensors (with poses). The algorithm recovers fine-scale geometric details and sharp surface textures by simultaneously optimizing for reconstructed geometry, surface albedos, camera poses and scene lighting.
2017 ICCV, High-Quality 3D Reconstruction by Joint Appearance and Geometry Optimization with Spatially-Varying Lighting
Open3D: A Modern Library for 3D Data Processing, Support C++, Python
Tutorial:A complete pipeline to reconstruct a 3D scene from an RGBD sequence
Given a sequence of depth images, intensity images, and camera poses, the proposed methods can fuse them into a globally consistent model using surfel representation. The fusion method supports both ORB-SLAM2 and VINS-Mono.
2019 ICRA, Real-time Scalable Dense Surfel Mapping
CVPR 2019, "BAD SLAM: Bundle Adjusted Direct RGB-D SLAM".
Basis for ElasticFusion.
2018 ICRA, StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments