Awesome-SLAM
A curated list of SLAM resources
https://github.com/SilenceOverflow/Awesome-SLAM
Last synced: 20 days ago
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11. Community
8.6 RANSAC
1. Hot SLAM Repos on GitHub
- SLAM: learning SLAM,curse,paper and others
- VIO-Resources
- awesome-slam: A curated list of awesome SLAM tutorials, projects and communities.
- A list of current SLAM (Simultaneous Localization and Mapping) / VO (Visual Odometry) algorithms
- awesome-visual-slam: The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
- awesome-SLAM-list
- Awesome-SLAM: Resources and Resource Collections of SLAM
2. Visual SLAM
2.1 Framework
- OpenVSLAM: A Versatile Visual SLAM Framework
- OpenSfM: Open source Structure-from-Motion pipeline
- GSLAM (A General SLAM Framework and BenchMark)
- ScaViSLAM
2.2 Monocular
- ORB_SLAM: A Versatile and Accurate Monocular SLAM
- LSD-SLAM: Large-Scale Direct Monocular SLAM
- DSO: Direct Sparse Odometry
- LDSO: Direct Sparse Odometry with Loop Closure
- SVO: Semi-direct Visual Odometry
- PTAM: Parallel Tracking and Mapping
- LPVO: Line and Plane based Visual Odometry
- LCSD_SLAM: Loosely-Coupled Semi-Direct Monocular SLAM
- CCM-SLAM: Robust and Efficient Centralized Collaborative Monocular SLAM for Robotic Teams
2.3 Stereo
- ORB_SLAM2
- ORBSLAM2_with_pointcloud_map
- PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments
- StVO-PL: Stereo Visual Odometry by combining point and line segment features
- PL-SVO
- stereo-dso: Direct Sparse Odometry with Stereo Cameras
- S-PTAM: Stereo Parallel Tracking and Mapping
- Robust Stereo Visual Odometry
- OV²SLAM: A Fully Online and Versatile Visual SLAM for Real-Time Applications
- stereo-dso: Direct Sparse Odometry with Stereo Cameras
2.4 RGBD
- Dense Visual Odometry and SLAM
- DVO
- PlanarSLAM
- badslam - D SLAM
- RESLAM - time robust edge-based SLAM system
- VDO-SLAM - aware SLAM System
- REVO - based Visual Odometry
2.5 Others
- CubeSLAM
- se2lam - Odometric On-SE(2) Localization and Mapping
- se2clam - Constrained Localization and Mapping by Fusing Odometry and Vision
- BreezySLAM - source package for Simultaneous Localization and Mapping in Python, Matlab, Java, and C++
- MultiCol-SLAM - fisheye camera SLAM
- Event-based Stereo Visual Odometry
3. Visual Inertial SLAM
3.1 Framework
- maplab - inertial mapping framework.
- ORB-SLAM3 - Source Library for Visual, Visual-Inertial and Multi-Map SLAM
- VINS-Fusion - based multi-sensor state estimator
- Kimera - source library for real-time metric-semantic localization and mapping
- OpenVINS - inertial navigation research
3.2 Monocular
- OKVIS - based Visual-Inertial SLAM (ROS Version)
- ROVIO
- R-VIO - Inertial Odometry
- LARVIO - State Constraint Kalman Filter
- msckf_mono
- (ROS Version) - ROS Version)](https://github.com/OpenSLAM/LearnViORB_NOROS/tree/master/master/LearnVIORB_NOROS)
- PVIO - Inertial Odometry with Multi-plane Priors
- PL-VIO
- PL-VINS - Time Monocular Visual-Inertial SLAM with Point and Line Features
- Adaptive Line and Point Feature-based Visual Inertial Odometry for Robust Localization in Indoor Environments
- REBiVO
- Co-VINS - Inertial Systems
3.3 Stereo
- msckf_vio
- OKVIS - based Visual-Inertial SLAM
- Basalt - Inertial Mapping with Non-Linear Factor Recovery
- ICE-BA - Inertial SLAM
- ORBSLAM_DWO
- VI-Stereo-DSO
- Semi-Dense Direct Visual Inertial Odometry
- LearnVIORBnorosgai2 - SLAM2 (Non-ROS Version)
- ygz-stereo-inertial - inertial visual odometry
3.5 Others
4. LIDAR based SLAM
4.1 Framework
- Cartographer
- LOAM-Livox - LiDAR
4.2 Others
- FAST-LIO
- LOL - only Odometry and Localization in 3D point cloud maps
- PyICP SLAM - python LiDAR SLAM using ICP and Scan Context
- LIO-SAM - coupled Lidar Inertial Odometry via Smoothing and Mapping
- LeGO-LOAM - Optimized Lidar Odometry and Mapping on Variable Terrain
- hdl_graph_slam - based Graph SLAM
- A-LOAM
- LIO-mapping: A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach
- SC-LeGO-LOAM - LOAM
- Fast LOAM
- SuMa - based Mapping using 3D Laser Range Data
- LINS - inertial-SLAM
- ISCLOAM
- MULLS - metric Linear Least Square
5. Learning based SLAM
5.1 Survey
- A collection of deep learning based localization models
- 3D-Reconstruction-with-Deep-Learning-Methods
5.2 Others
- TLIO
- Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction
- SuperPoint + ORB_SLAM2
- VINet - Inertial Odometry as a Sequence-to-Sequence Learning Problem
- DeepSFM
- Unsupervised Monocular Visual-inertial Odometry Network
- Semantic SLAM
- CNN-DSO
- CNN-SVO
- KFNet
- Unsupervised Depth Completion from Visual Inertial Odometry
- The Perfect Match
- Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation
- M^3SNet - metric Multi-view Stereo Network
- Deep EKF VIO
- Active Neural SLAM
- DeepFactors
- OverlapNet - based SLAM
- SO-Net - Organizing Network for Point Cloud Analysis
- Geometry-Aware Learning of Maps for Camera Localization
- DeepV2D
- PVN3D - wise 3D Keypoints Voting Network for 6DoF Pose Estimation
- DeepMVS - View Stereopsis
- Epipolar Transformers
- DF-VO
- DeepTAM
5.3 Deep Features
- GCNv2 SLAM - time SLAM system with deep features
- FCGF
- Deep Image Retrieval
- Key.Net
5.4 Semantic SLAM
- SuMa++ - based Semantic SLAM
- DS-SLAM
- Probabilistic Data Association via Mixture Models for Robust Semantic SLAM
- SIVO
- orbslam_semantic_nav_ros, RGBD
- Pop-up SLAM - texture Environments
- Semantic SLAM using ROS, ORB SLAM, PSPNet101
6. Mobile End SLAM
6.1 Visual SLAM
6.2 Visual Inertial SLAM
- VINS-Mobile - Inertial State Estimator on Mobile Phones
6.3 Augmented Reality
- Awesome-ARKit
- Awesome-ARCore
- MixedRealityToolkit-Unity
- arcore-android-sdk
- OpenARK
- opencv-markerless-AR-Mobile
- DepthAPISampleForiOS11
- AVDepthCamera
- ios11-depth-map-test
- ARCore Depth Lab
- AR-Depth - Aware Augmented Reality
- AR-Depth-cpp - aware Augmented Reality (SIGGRAPH-Asia 2018)
6.4 Others
- GPUImage - based image and video processing
- Microsoft Computer Vision API
7. Datasets
6.4 Others
- Awesome SLAM Datasets
- Awesome Robotics Datasets
- ADVIO - Inertial Odometry
- Awesome Robotics Datasets
- TUM - Monocular Visual Odometry Dataset - vision/mono_dataset_code)]
8. Tutorials
6.4 Others
- Visual SLAM/VIO 算法笔记
- SLAM 开发学习资源与经验分享
- English Version
- Practice of the SlamBook
- GraphSLAM_tutorials_code
8.1 3D Vision
- Vitis Vision Library
- An Invitation to 3D Vision: A Tutorial for Everyone
- opengv
- Geometry Central
- vilib
- OpenGR: A C++ library for 3D Global Registration
- OpenCP - threading.
8.2 Robotics
- RoboticSystemsBook
- MATLABRobotics
- Kindr
- Sensor Fusion in ROS - depth step-by-step tutorial for implementing sensor fusion with robot_localization
- fuse
- GPU Computing in Robotics
8.3 Lie Algebra and Lie Groups
- Lie groups for Computer Vision
- Lie groups for 2D and 3D Transformations
- Hermite Splines in Lie Groups as Products of Geodesics
- LieTransformer
- Sophus
- manif - only library for Lie theory
8.4 Optimization Techniques
- Gauss-Newton/Levenberg-Marquardt Optimization
- How a Kalman filter works, in pictures
- 卡爾曼濾波 (Kalman Filter)
- 翻譯 Understanding the Basis of the Kalman Filter Via a Simple and Intuitive Derivation
- ceres-solver - linear optimization library
- g2o
- GTSAM
- miniSAM - linear least square optimization framework
- AprilSAM - time Smoothing and Mapping
- GTSAM Tutorial Examples
- AMGCL
- Armadillo
- IFOPT - based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
- LBFGS++ - only C++ library for L-BFGS and L-BFGS-B algorithms
- OptimLib
- fpm - only fixed-point math library
- 卡爾曼濾波 (Kalman Filter)
- 翻譯 Understanding the Basis of the Kalman Filter Via a Simple and Intuitive Derivation
8.5 Calibration
- kalibr - inertial calibration toolbox
- Accurate geometric camera calibration with generic camera models
- LI-Calib - IMU System Based on Continuous-time Batch Estimation
- Online Photometric Calibration
- IMU-TK
- crisp - to-IMU calibration and synchronization toolbox