https://github.com/electech6/awesome-slam
SLAM code, paper, project collections
https://github.com/electech6/awesome-slam
List: awesome-slam
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SLAM code, paper, project collections
- Host: GitHub
- URL: https://github.com/electech6/awesome-slam
- Owner: electech6
- Created: 2020-01-10T10:26:54.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2020-02-10T08:59:33.000Z (over 5 years ago)
- Last Synced: 2025-02-09T03:01:40.118Z (4 months ago)
- Size: 10.7 KB
- Stars: 44
- Watchers: 5
- Forks: 10
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Awesome-SLAM
SLAM code, paper, project collections
## ORB-SLAM2 related codes
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
[PAPER](https://arxiv.org/abs/1610.06475),
[CODE](https://github.com/raulmur/ORB_SLAM2),
[中文注释版](https://github.com/Vincentqyw/ORB-SLAM2-CHINESE)
### 改进方法
[ORBSLAM2_with_pointcloud_map](https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map)
[ORB-SLAM2_RGBD_DENSE_MAP,modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model](https://github.com/tiantiandabaojian/ORB-SLAM2_RGBD_DENSE_MAP)
[ORB-YGZ-SLAM, average 3x speed up and keep almost same accuracy v.s. ORB-SLAM2, use direct tracking in SVO to accelerate the feature matching](https://github.com/gaoxiang12/ORB-YGZ-SLAM)
[YGZ-stereo-inertial SLAM, LK optical flow + sliding window bundle adjustment](https://github.com/gaoxiang12/ygz-stereo-inertial)
[VIORB, An implementation of Visual Inertial ORBSLAM based on ORB-SLAM2](https://github.com/jingpang/LearnVIORB)
[Fisheye-ORB-SLAM, A real-time robust monocular visual SLAM system based on ORB-SLAM for fisheye cameras, without rectifying or cropping the input images](https://github.com/lsyads/fisheye-ORB-SLAM)
[Save and load orb-slam2 maps](https://github.com/AlejandroSilvestri/osmap)
[ORB_SLAM2 with map load/save function](https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced)
[Viewer for maps from ORB-SLAM2 Osmap](https://github.com/AlejandroSilvestri/Osmap-viewer)
[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](https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic)
[Add line feature based ORB-SLAM2](https://github.com/atlas-jj/ORB_Line_SLAM)
[RGBD-SLAM with Point and Line Features, developed based on ORB_SLAM2](https://github.com/maxee1900/RGBD-PL-SLAM)
### Different platforms
[Windows version ORBSLAM2,Easy built by visual studio](https://github.com/phdsky/ORBSLAM24Windows)
[ORB-SLAM-Android, test on Sony Xperia Z](https://github.com/castoryan/ORB-SLAM-Android)
[ORBSLAM2 on Mac OSX](https://github.com/meiroo/ORBSLAM2-OSX)
[ROS interface for ORBSLAM2](https://github.com/ethz-asl/orb_slam_2_ros)
## Line feature based SLAM
### PL-SLAM
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
[PAPER](https://arxiv.org/abs/1705.09479),
[CODE](https://github.com/rubengooj/pl-slam)
2016 IROS, PL-SVO: Semi-direct monocular visual odometry by combining points and line segments.
[PAPER](http://mapir.isa.uma.es/rgomez/publications/iros16plsvo.pdf)
2016 ICRA, Robust stereo visual odometry through a probabilistic combination of points and line segments. In Robotics and Automation
[PAPER](http://mapir.isa.uma.es/rgomez/publications/icra16plsvo.pdf)
### PL-VIO
Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features
[CODE](https://github.com/HeYijia/PL-VIO)
### Monocular ORB-SLAM with Line Features
[CODE](https://github.com/lanyouzibetty/ORB-SLAM2_with_line)
### ORB_Line_SLAM
Add line feature based ORB-SLAM2
[CODE](https://github.com/atlas-jj/ORB_Line_SLAM)
### RGBD-PL-SLAM
RGBD-SLAM with Point and Line Features, developed based on the famous ORB_SLAM2
[CODE](https://github.com/maxee1900/RGBD-PL-SLAM)
### Line feature based RGBD-SLAM v2
[CODE](https://github.com/yan-lu/LineSLAM)
### 3D Line Semi-dense SLAM
ICPR 2018, Incremental 3D Line Segment Extraction for Surface Reconstruction from Semi-dense SLAM
[PAPER](https://arxiv.org/abs/1708.03275),
[](http://webdocs.cs.ualberta.ca/~vis/thesis_shida/),
[CODE](https://github.com/shidahe/semidense-lines)
### 3D Line-based Stereo SLAM
2015 IEEE Transactions on Robotics, Building a 3-D Line-Based Map Using Stereo SLAM
[CODE](https://github.com/slslam/slslam),
[论文解读](https://www.cnblogs.com/tweed/p/11353285.html)
# LIDAR SLAM
## 2019
### hdl_graph_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
[PAPER](https://www.researchgate.net/publication/331283709_A_portable_three-dimensional_LIDAR-based_system_for_long-term_and_wide-area_people_behavior_measurement)
### LIO-mapping
ICRA 2019,A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach
[PAPER](https://arxiv.org/abs/1904.06993),
[CODE](https://github.com/hyye/lio-mapping)
### SuMa++
IROS 2019, SuMa++: Efficient LiDAR-based Semantic SLAM
[PAPER](https://www.semanticscholar.org/paper/SuMa-%2B-%2B-%3A-Efficient-LiDAR-based-Semantic-SLAM-Chen-Palazzolo/546137c71dc3c00c8a259de721281930f6574086),
[CODE](https://github.com/PRBonn/semantic_suma)
### A-LOAM
Advanced implementation of LOAM, uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and LOAM_NOTED
[CODE](https://github.com/HKUST-Aerial-Robotics/A-LOAM)
## 2018
### LeGO-LOAM
IROS 2018, LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
[CODE](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM),
[PAPER](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/master/Shan_Englot_IROS_2018_Preprint.pdf),
[Video demo](https://www.youtube.com/watch?v=O3tz_ftHV48),
[Gif demo](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/master/LeGO-LOAM/launch/demo.gif)
### loam_velodyne
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar
[CODE](https://github.com/laboshinl/loam_velodyne)
### lidar_slam_3d
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.
[CODE](https://github.com/ningwang1028/lidar_slam_3d)
## 2016
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
[PAPER](https://research.google/pubs/pub45466/), [CODE](https://github.com/googlecartographer/cartographer),
[PROJECT](https://google-cartographer.readthedocs.io/en/latest/)
### 2D LaserSLAM
W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016
[CODE](https://github.com/meyiao/LaserSLAM),
[VIDEO](https://v.qq.com/x/page/q0363h0i1ej.html)
## 2014
### LOAM
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
[PAPER](http://www.roboticsproceedings.org/rss10/p07.pdf),
[VIDEO](https://www.youtube.com/watch?feature=player_embedded&v=8ezyhTAEyHs),
[CODE](https://github.com/daobilige-su/loam_velodyne),
[中文注释代码](https://github.com/cuitaixiang/LOAM_NOTED)
## LIDAR-CAMERA SLAM
### LIMO
2018 IROS, LIMO: Lidar-Monocular Visual Odometry
[PAPER](https://arxiv.org/pdf/1807.07524.pdf),
[CODE](https://github.com/johannes-graeter/limo)
## VIO
### OpenVINS, Monolar + IMU
An open source platform for visual-inertial navigation research.
2019 IROS, OpenVINS: A Research Platform for Visual-Inertial Estimation
[PAPER](http://udel.edu/~ghuang/iros19-vins-workshop/papers/06.pdf),
[CODE](https://github.com/rpng/open_vins),
[PROJECT](https://docs.openvins.com/)
## OpenVSLAM: A Versatile Visual SLAM Framework
1. A monocular, stereo, and RGBD visual SLAM system
2. Created maps can be stored and loaded
[PAPER](https://arxiv.org/abs/1910.01122),
[CODE](https://github.com/xdspacelab/openvslam),
[VIDEO DEMO](https://www.youtube.com/watch?v=Ro_s3Lbx5ms)
## 3D reconstruction
### Fastfusion
2014 ICRA, Volumetric 3D Mapping in Real-Time on a CPU
[PAPER](https://github.com/tum-vision/fastfusion),
[CODE](http://vision.in.tum.de/_media/spezial/bib/steinbruecker_etal_icra2014.pdf),
[Python wrapper](https://github.com/y-j-n/pyFastfusion)
### Intrinsic3D
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
[PAPER](https://arxiv.org/pdf/1708.01670.pdf),
[CODE](https://github.com/NVlabs/intrinsic3d)
### Open3D
Open3D: A Modern Library for 3D Data Processing, Support C++, Python
[Tutorial:A complete pipeline to reconstruct a 3D scene from an RGBD sequence](http://www.open3d.org/docs/release/tutorial/ReconstructionSystem/index.html)
[CODE](https://github.com/intel-isl/Open3D)
### DenseSurfelMapping
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
[PAPER](https://www.dropbox.com/s/h9bais2wnw1g9f0/root.pdf?dl=0),
[CODE](https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping)
## RGB-D SLAM
### Bundle Adjusted Direct RGB-D SLAM
CVPR 2019, "BAD SLAM: Bundle Adjusted Direct RGB-D SLAM".
[PAPER](http://openaccess.thecvf.com/content_CVPR_2019/html/Schops_BAD_SLAM_Bundle_Adjusted_Direct_RGB-D_SLAM_CVPR_2019_paper.html),
[CODE](https://github.com/ETH3D/badslam)
### StaticFusion
Basis for ElasticFusion.
2018 ICRA, StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments
[CODE](https://github.com/raluca-scona/staticfusion)
## CAMERA-IMU-LIDAR CALIBRATION
### The Kalibr visual-inertial calibration toolbox
[CODE](https://github.com/ethz-asl/kalibr)