https://github.com/wuxiaolang/Visual_SLAM_Related_Research

视觉(语义) SLAM 相关研究跟踪
https://github.com/wuxiaolang/Visual_SLAM_Related_Research

mapping opensource papers semantic slam visualodometry

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视觉(语义) SLAM 相关研究跟踪

• Host: GitHub
• URL: https://github.com/wuxiaolang/Visual_SLAM_Related_Research
• Owner: wuxiaolang
• Created: 2019-01-08T15:38:01.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2021-07-05T05:27:50.000Z (almost 5 years ago)
• Last Synced: 2025-03-25T13:47:49.702Z (about 1 year ago)
• Topics: mapping, opensource, papers, semantic, slam, visualodometry
• Homepage:
• Size: 1.49 MB
• Stars: 1,798
• Watchers: 97
• Forks: 404
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
> **毕业快乐！最近更新 2021 年 07 月 05 日：论文更新 +104，开源代码 +9**

# Visual_SLAM_Related_Research

> @Author：[吴艳敏](https://yanmin-wu.github.io/)    

@E-mail ：wuyanminmax[AT]gmail.com    

@github ：[wuxiaolang](https://github.com/wuxiaolang)

## 前言

  以下收集的论文、代码等资料主要与本人的硕士期间的学习方向 **视觉 SLAM、增强现实** 相关。目前（2019-2021）**重点关注 VO、物体级 SLAM 和语义数据关联**， 对传感器融合、稠密建图也略有关注，所以资料的收集范围也与自己的兴趣比较一致，无法涵盖视觉 SLAM 的所有研究，**请谨慎参考**，部分整理后发布于[知乎](https://www.zhihu.com/people/wuyanmin2018/posts)。主要内容包括：   

`1. 开源代码` ：经典、优秀的**开源工程**    

`2. 优秀作者与实验室` ：在自己感兴趣领域比较**优秀的值得关注的团队或个人**    

`3. SLAM 学习资料` ：**SLAM 相关学习资料**、视频、数据集、公众号和代码注释    

`4. 近期论文` ：自己感兴趣方向的**最新论文**，大概**一个月一更新**。部分论文的详/泛读笔记放在我的[**博客**](https://wym.netlify.com/post/)/[List](https://zhuanlan.zhihu.com/p/138737870)上。    

  🌚 本仓库于 2019 年 3 月（研一）开始整理（私密）；   

  🌝 本仓库于 2020 年 3月（研二）公开，正好一周年；    

  🎓 2021 年 7 月，研三硕士毕业，此仓库后续可能不会有很频繁的更新，祝各位学习工作顺利，学术交流欢迎邮件联系 wuyanminmax[AT]gmail.com。    

## 目录

> 推荐使用 [GayHub](https://github.com/jawil/GayHub) 插件自动在侧栏展开目录

+ [**1.开源代码**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#1-%E5%BC%80%E6%BA%90%E4%BB%A3%E7%A0%81)

  + [**1.1 Geometric SLAM**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-11-geometric-slam)

  + [**1.2 Semantic / Deep SLAM**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-12-semantic--deep-slam)

  + [**1.3 Multi-Landmarks / Object SLAM**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-13-multi-landmarks--object-slam)

  + [**1.4 Sensor Fusion**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-14-sensor-fusion)

  + [**1.5 Dynamic SLAM**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-15-dynamic-slam)

  + [**1.6 Mapping**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-16-mapping)

  + [**1.7 Optimization**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#smile-17-optimization)

+ [**2. 优秀作者与实验室**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2-%E4%BC%98%E7%A7%80%E4%BD%9C%E8%80%85%E4%B8%8E%E5%AE%9E%E9%AA%8C%E5%AE%A4)

+ [**3. SLAM 学习资料**](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#3-SLAM-%E5%AD%A6%E4%B9%A0%E8%B5%84%E6%96%99)

+ [**4. 近期论文更新**](https://github.com/wuxiaolang/Mark/blob/master/README.md#4-%E8%BF%91%E6%9C%9F%E8%AE%BA%E6%96%87%E6%8C%81%E7%BB%AD%E6%9B%B4%E6%96%B0)

  + [2021 年 06 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-6-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2021 年 05 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-5-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2021 年 04 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-4-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2021 年 03 月论文更新（23 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-3-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B023-%E7%AF%87)

  + [2021 年 02 月论文更新（21 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-2-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B021-%E7%AF%87)

  + [2021 年 01 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2021-%E5%B9%B4-1-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + -- ↑ 2021年 ↑ === ↓ 2020年 ↓ --

  + [2020 年 12 月论文更新（18 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-12-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B018-%E7%AF%87)

  + [2020 年 11 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-11-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2020 年 10 月论文更新（22 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-10-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B022-%E7%AF%87)

  + [2020 年 09 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-9-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2020 年 08 月论文更新（30 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-8-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B030-%E7%AF%87)

  + [2020 年 07 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-7-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2020 年 06 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-6-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2020 年 05 月论文更新（20 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-5-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B020-%E7%AF%87)

  + [2020 年 04 月论文更新（22 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-4-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B022-%E7%AF%87)

  + [2020 年 03 月论文更新（23 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-3-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B023-%E7%AF%87)

  + [2020 年 02 月论文更新（17 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-2-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B017-%E7%AF%87)

  + [2020 年 01 月论文更新（26 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2020-%E5%B9%B4-1-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B026-%E7%AF%87)

  + -- ↑ 2020年 ↑ === ↓ 2019年 ↓ --

  + [2019 年 12 月论文更新（23 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-12-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B023-%E7%AF%87)

  + [2019 年 11 月论文更新（17 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-11-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B017-%E7%AF%87)

  + [2019 年 10 月论文更新（22 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-10-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B022-%E7%AF%87) 

  + [2019 年 09 月论文更新（24 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-9-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B024-%E7%AF%87)

  + [2019 年 08 月论文更新（26 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-8-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B026-%E7%AF%87)

  + [2019 年 07 月论文更新（36 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-7-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B036-%E7%AF%87)

  + [2019 年 06 月论文更新（21 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-6-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B021-%E7%AF%87)

  + [2019 年 05 月论文更新（51 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-5-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B051-%E7%AF%87)

  + [2019 年 04 月论文更新（17 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-4-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B017-%E7%AF%87)

  + [2019 年 03 月论文更新（13 篇）](https://github.com/wuxiaolang/Visual_SLAM_Related_Research#2019-%E5%B9%B4-3-%E6%9C%88%E8%AE%BA%E6%96%87%E6%9B%B4%E6%96%B013-%E7%AF%87)

---

## 1. 开源代码

> 这一部分整理之后发布在知乎（2020 年 3 月 31 日）：https://zhuanlan.zhihu.com/p/115599978/

### :smile: 1.1 Geometric SLAM

#### 1. PTAM 

+ **论文**：Klein G, Murray D. [**Parallel tracking and mapping for small AR workspaces**](http://www.robots.ox.ac.uk/ActiveVision/Publications/klein_murray_ismar2007/klein_murray_ismar2007.pdf)[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**](http://webdiis.unizar.es/~jcivera/papers/pire_etal_ras17.pdf). 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**](https://www.researchgate.net/profile/Gaston_Castro/publication/332147108_Efficient_on-board_Stereo_SLAM_through_constrained-covisibility_strategies/links/5cacb327a6fdccfa0e7c3e4b/Efficient-on-board-Stereo-SLAM-through-constrained-covisibility-strategies.pdf)[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**](https://ieeexplore.ieee.org/abstract/document/4160954/)[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**](https://github.com/raulmur/ORB_SLAM2)[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](https://www.researchgate.net/profile/Raul_Mur-Artal/publication/282807894_Probabilistic_Semi-Dense_Mapping_from_Highly_Accurate_Feature-Based_Monocular_SLAM/links/561cd04308ae6d17308ce267.pdf)[C]//Robotics: Science and Systems. **2015**, 2015.

    + **VIORB**：Mur-Artal R, Tardós J D. [Visual-inertial monocular SLAM with map reuse](https://arxiv.org/pdf/1610.05949.pdf)[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](https://arxiv.org/pdf/1908.11585)[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**](https://ieeexplore.ieee.org/iel7/34/4359286/07898369.pdf)[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**](http://openaccess.thecvf.com/content_ICCV_2017/papers/Wang_Stereo_DSO_Large-Scale_ICCV_2017_paper.pdf)[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**](https://arxiv.org/pdf/1804.05625)[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**](https://arxiv.org/pdf/1808.01111)[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**](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.646.7193&rep=rep1&type=pdf)[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**](https://vision.in.tum.de/_media/spezial/bib/kerl13icra.pdf)[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**](https://jsturm.de/publications/data/steinbruecker_sturm_cremers_iccv11.pdf)[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](http://rpg.ifi.uzh.ch/publications.html)

+ **论文**：Forster C, Pizzoli M, Scaramuzza D. [**SVO: Fast semi-direct monocular visual odometry**](https://www.zora.uzh.ch/id/eprint/125453/1/ICRA14_Forster.pdf)[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**](https://www.zora.uzh.ch/id/eprint/127902/1/TRO16_Forster-SVO.pdf)[J]. IEEE Transactions on Robotics, **2016**, 33(2): 249-265.

#### 10. DSM

+ **论文**：Zubizarreta J, Aguinaga I, Montiel J M M. [**Direct sparse mapping**](https://arxiv.org/pdf/1904.06577)[J]. arXiv preprint arXiv:1904.06577, **2019**.

+ **代码**：https://github.com/jzubizarreta/dsm ；[Video](https://www.youtube.com/watch?v=sj1GIF-7BYo&feature=youtu.be)

#### 11. openvslam

+ 论文：Sumikura S, Shibuya M, Sakurada K. [**OpenVSLAM: A Versatile Visual SLAM Framework**](https://dl.acm.org/ft_gateway.cfm?id=3350539&type=pdf)[C]//Proceedings of the 27th ACM International Conference on Multimedia. **2019**: 2292-2295.

+ 代码：https://github.com/xdspacelab/openvslam ；[文档](https://openvslam.readthedocs.io/en/master/)

#### 12. se2lam（地面车辆位姿估计的视觉里程计）

+ **论文**：Zheng F, Liu Y H. [**Visual-Odometric Localization and Mapping for Ground Vehicles Using SE (2)-XYZ Constraints**](https://ieeexplore.ieee.org/abstract/document/8793928)[C]//2019 International Conference on Robotics and Automation (**ICRA**). IEEE, **2019**: 3556-3562.

+ **代码**：https://github.com/izhengfan/se2lam

+ 作者的另外一项工作

    + 论文：Zheng F, Tang H, Liu Y H. [**Odometry-vision-based ground vehicle motion estimation with se (2)-constrained se (3) poses**](https://ieeexplore.ieee.org/abstract/document/8357438/)[J]. IEEE transactions on cybernetics, **2018**, 49(7): 2652-2663.

    + 代码：https://github.com/izhengfan/se2clam

#### 13. GraphSfM（基于图的并行大规模 SFM）

+ 论文：Chen Y, Shen S, Chen Y, et al. [**Graph-Based Parallel Large Scale Structure from Motion**](https://arxiv.org/pdf/1912.10659.pdf)[J]. arXiv preprint arXiv:1912.10659, **2019**.

+ 代码：https://github.com/AIBluefisher/GraphSfM

#### 14. LCSD_SLAM（松耦合的半直接法单目 SLAM）

+ **论文**：Lee S H, Civera J. [**Loosely-Coupled semi-direct monocular SLAM**](https://arxiv.org/pdf/1807.10073)[J]. IEEE Robotics and Automation Letters, **2018**, 4(2): 399-406.

+ **代码**：https://github.com/sunghoon031/LCSD_SLAM ；[谷歌学术](https://scholar.google.com/citations?user=FeMFP7EAAAAJ&hl=zh-CN&oi=sra) ；[演示视频](https://www.youtube.com/watch?v=j7WnU7ZpZ8c&feature=youtu.be)

+ 作者另外一篇关于**单目尺度**的文章 [代码开源](https://github.com/sunghoon031/stability_scale) ：Lee S H, de Croon G. [**Stability-based scale estimation for monocular SLAM**](https://www.researchgate.net/profile/Seong_Hun_Lee3/publication/322260802_Stability-based_Scale_Estimation_for_Monocular_SLAM/links/5b3def9b0f7e9b0df5f42d67/Stability-based-Scale-Estimation-for-Monocular-SLAM.pdf)[J]. IEEE Robotics and Automation Letters, **2018**, 3(2): 780-787.

#### 15. RESLAM（基于边的 SLAM）

+ **论文**：Schenk F, Fraundorfer F. [**RESLAM: A real-time robust edge-based SLAM system**](https://ieeexplore.ieee.org/abstract/document/8794462/)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 154-160.

+ **代码**：https://github.com/fabianschenk/RESLAM ； [项目主页](https://graz.pure.elsevier.com/en/publications/reslam-a-real-time-robust-edge-based-slam-system)

#### 16. scale_optimization（将单目 DSO 拓展到双目）

+ **论文**：Mo J, Sattar J. [**Extending Monocular Visual Odometry to Stereo Camera System by Scale Optimization**](https://arxiv.org/pdf/1905.12723.pdf)[C]. International Conference on Intelligent Robots and Systems (**IROS**), **2019**.

+ **代码**：https://github.com/jiawei-mo/scale_optimization

#### 17. BAD-SLAM（直接法 RGB-D SLAM）

+ **论文**：Schops T, Sattler T, Pollefeys M. [**BAD SLAM: Bundle Adjusted Direct RGB-D SLAM**](http://openaccess.thecvf.com/content_CVPR_2019/papers/Schops_BAD_SLAM_Bundle_Adjusted_Direct_RGB-D_SLAM_CVPR_2019_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. **2019**: 134-144.

+ **代码**：https://github.com/ETH3D/badslam

#### 18. GSLAM（集成 ORB-SLAM2，DSO，SVO 的通用框架）

+ **论文**：Zhao Y, Xu S, Bu S, et al. [**GSLAM: A general SLAM framework and benchmark**](http://openaccess.thecvf.com/content_ICCV_2019/papers/Zhao_GSLAM_A_General_SLAM_Framework_and_Benchmark_ICCV_2019_paper.pdf)[C]//Proceedings of the IEEE International Conference on Computer Vision. **2019**: 1110-1120.

+ **代码**：https://github.com/zdzhaoyong/GSLAM

#### 19. ARM-VO（运行于 ARM 处理器上的单目 VO）

+ **论文**：Nejad Z Z, Ahmadabadian A H. [**ARM-VO: an efficient monocular visual odometry for ground vehicles on ARM CPUs**](https://link.springer.com/article/10.1007/s00138-019-01037-5)[J]. Machine Vision and Applications, **2019**: 1-10.

+ **代码**：https://github.com/zanazakaryaie/ARM-VO

#### 20. cvo-rgbd（直接法 RGB-D VO）

+ **论文**：Ghaffari M, Clark W, Bloch A, et al. [**Continuous Direct Sparse Visual Odometry from RGB-D Images**](https://arxiv.org/pdf/1904.02266.pdf)[J]. arXiv preprint arXiv:1904.02266, **2019**.

+ **代码**：https://github.com/MaaniGhaffari/cvo-rgbd

#### 21. Map2DFusion（单目 SLAM 无人机图像拼接）

+ **论文**：Bu S, Zhao Y, Wan G, et al. [**Map2DFusion: Real-time incremental UAV image mosaicing based on monocular slam**](http://www.adv-ci.com/publications/2016_IROS.pdf)[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2016**: 4564-4571.

+ **代码**：https://github.com/zdzhaoyong/Map2DFusion

#### 22. CCM-SLAM（多机器人协同单目 SLAM）

+ **论文**：Schmuck P, Chli M. [**CCM‐SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams**](https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21854)[J]. Journal of Field Robotics, **2019**, 36(4): 763-781.

+ **代码**：https://github.com/VIS4ROB-lab/ccm_slam   [Video](https://www.youtube.com/watch?v=P3b7UiTlmbQ&feature=youtu.be)

#### 23. ORB-SLAM3

+ 论文：Carlos Campos, Richard Elvira, et al.[**ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM**](https://arxiv.org/abs/2007.11898)[J]. arXiv preprint arXiv:2007.11898, **2020**.

+ 代码：https://github.com/UZ-SLAMLab/ORB_SLAM3 | [Video](https://www.youtube.com/channel/UCXVt-kXG6T95Z4tVaYlU80Q)

#### 24. OV²SLAM（完全实时在线多功能 SLAM）

+ 论文：Ferrera M, Eudes A, Moras J, et al. [**OV $^{2} $ SLAM: A Fully Online and Versatile Visual SLAM for Real-Time Applications**](https://ieeexplore.ieee.org/abstract/document/9351614/)[J]. IEEE Robotics and Automation Letters, **2021**, 6(2): 1399-1406.

+ 代码：https://github.com/ov2slam/ov2slam

#### 25. ESVO（基于事件的双目视觉里程计）

+ 论文：Zhou Y, Gallego G, Shen S. [**Event-based stereo visual odometry**](https://ieeexplore.ieee.org/abstract/document/9386209/)[J]. IEEE Transactions on Robotics, **2021**.

+ 代码：https://github.com/HKUST-Aerial-Robotics/ESVO

#### 26. VOLDOR-SLAM（实时稠密非直接法 SLAM）

+ 论文：Min Z, Dunn E. [**VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough**](https://arxiv.org/abs/2104.06800)[J]. arXiv preprint arXiv:2104.06800, 2021.

+ 代码：https://github.com/htkseason/VOLDOR

### :smile: 1.2 Semantic / Deep SLAM

#### 1. MsakFusion

+ **论文**：Runz M, Buffier M, Agapito L. [**Maskfusion: Real-time recognition, tracking and reconstruction of multiple moving objects**](https://arxiv.org/pdf/1804.09194)[C]//2018 IEEE International Symposium on Mixed and Augmented Reality (ISMAR). IEEE, **2018**: 10-20.

+ **代码**：https://github.com/martinruenz/maskfusion

#### 2. SemanticFusion

+ **论文**：McCormac J, Handa A, Davison A, et al. [**Semanticfusion: Dense 3d semantic mapping with convolutional neural networks**](https://arxiv.org/pdf/1609.05130.pdf)[C]//2017 IEEE International Conference on Robotics and automation (ICRA). IEEE, **2017**: 4628-4635.

+ **代码**：https://github.com/seaun163/semanticfusion

#### 3. semantic_3d_mapping

+ **论文**：Yang S, Huang Y, Scherer S. [**Semantic 3D occupancy mapping through efficient high order CRFs**](https://arxiv.org/pdf/1707.07388.pdf)[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2017**: 590-597.

+ **代码**：https://github.com/shichaoy/semantic_3d_mapping

#### 4. Kimera（实时度量与语义定位建图开源库）

+ 论文：Rosinol A, Abate M, Chang Y, et al. [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/pdf/1910.02490.pdf)[J]. arXiv preprint arXiv:1910.02490, **2019**.

+ 代码：https://github.com/MIT-SPARK/Kimera ；[演示视频](https://www.youtube.com/watch?v=3lVD0i-5p10)

#### 5. NeuroSLAM（脑启发式 SLAM）

+ **论文**：Yu F, Shang J, Hu Y, et al. [**NeuroSLAM: a brain-inspired SLAM system for 3D environments**](https://www.researchgate.net/profile/Fangwen_Yu/publication/336164484_NeuroSLAM_a_brain-inspired_SLAM_system_for_3D_environments/links/5d95f38d458515c1d3908a20/NeuroSLAM-a-brain-inspired-SLAM-system-for-3D-environments.pdf)[J]. Biological Cybernetics, **2019**: 1-31.

+ **代码**：https://github.com/cognav/NeuroSLAM

+ 第四作者就是 Rat SLAM 的作者，文章也比较了十余种脑启发式的 SLAM

#### 6. gradSLAM（自动分区的稠密 SLAM）

+ **论文**：Jatavallabhula K M, Iyer G, Paull L. [**gradSLAM: Dense SLAM meets Automatic Differentiation**](https://arxiv.org/pdf/1910.10672.pdf)[J]. arXiv preprint arXiv:1910.10672, **2019**.

+ **代码**（预计 20 年 4 月放出）：https://github.com/montrealrobotics/gradSLAM ；[项目主页](http://montrealrobotics.ca/gradSLAM/)，[演示视频](https://www.youtube.com/watch?v=2ygtSJTmo08&feature=youtu.be)

#### 7. ORB-SLAM2 + 目标检测/分割的方案语义建图

+ https://github.com/floatlazer/semantic_slam

+ https://github.com/qixuxiang/orb-slam2_with_semantic_labelling

+ https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic

#### 8. SIVO（语义辅助特征选择）

+ **论文**：Ganti P, Waslander S. [**Network Uncertainty Informed Semantic Feature Selection for Visual SLAM**](https://ieeexplore.ieee.org/abstract/document/8781616)[C]//2019 16th Conference on Computer and Robot Vision (CRV). IEEE, **2019**: 121-128.

+ **代码**：https://github.com/navganti/SIVO

#### 9. FILD（临近图增量式闭环检测）

+ **论文**：Shan An, Guangfu Che, Fangru Zhou, Xianglong Liu, Xin Ma, Yu Chen.[ **Fast and Incremental Loop Closure Detection using Proximity Graphs**](https://arxiv.org/pdf/1911.10752.pdf). pp. 378-385, The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS **2019**)

+ **代码**：https://github.com/AnshanTJU/FILD

#### 10. object-detection-sptam（目标检测与双目 SLAM）

+ **论文**：Pire T, Corti J, Grinblat G. [**Online Object Detection and Localization on Stereo Visual SLAM System**](https://www.researchgate.net/profile/Taihu_Pire/publication/335432416_Online_Object_Detection_and_Localization_on_Stereo_Visual_SLAM_System/links/5d663a14a6fdccf343f93830/Online-Object-Detection-and-Localization-on-Stereo-Visual-SLAM-System.pdf)[J]. Journal of Intelligent & Robotic Systems, **2019**: 1-10.

+ **代码**：https://github.com/CIFASIS/object-detection-sptam

#### 11. Map Slammer（单目深度估计 + SLAM）

+ **论文**：Torres-Camara J M, Escalona F, Gomez-Donoso F, et al. [**Map Slammer: Densifying Scattered KSLAM 3D Maps with Estimated Depth**](https://link.springer.com/chapter/10.1007/978-3-030-36150-1_46)[C]//Iberian Robotics conference. Springer, Cham, **2019**: 563-574.

+ **代码**：https://github.com/jmtc7/mapSlammer

#### 12. NOLBO（变分模型的概率 SLAM）

+ **论文**：Yu H, Lee B. [**Not Only Look But Observe: Variational Observation Model of Scene-Level 3D Multi-Object Understanding for Probabilistic SLAM**](https://arxiv.org/pdf/1907.09760.pdf)[J]. arXiv preprint arXiv:1907.09760, **2019**.

+ **代码**：https://github.com/bogus2000/NOLBO

#### 13. GCNv2_SLAM （基于图卷积神经网络 SLAM）

+ **论文**：Tang J, Ericson L, Folkesson J, et al. [**GCNv2: Efficient correspondence prediction for real-time SLAM**](https://ieeexplore.ieee.org/abstract/document/8758836/)[J]. IEEE Robotics and Automation Letters, **2019**, 4(4): 3505-3512.

+ **代码**：https://github.com/jiexiong2016/GCNv2_SLAM   [Video](https://www.youtube.com/watch?v=pz-gdnR9tAM)

#### 14. semantic_suma（激光语义建图）

+ **论文**：Chen X, Milioto A, Palazzolo E, et al. [**SuMa++: Efficient LiDAR-based semantic SLAM**](https://ieeexplore.ieee.org/abstract/document/8967704/)[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2019**: 4530-4537.

+ **代码**：https://github.com/PRBonn/semantic_suma/ ；[Video](https://www.youtube.com/watch?v=uo3ZuLuFAzk&feature=youtu.be)

#### 15. Neural-SLAM（主动神经 SLAM）

+ **论文**：Chaplot D S, Gandhi D, Gupta S, et al. [**Learning to explore using active neural slam**](https://arxiv.org/abs/2004.05155)[C]. ICLR **2020**.

+ **代码**：https://github.com/devendrachaplot/Neural-SLAM

#### 16. TartanVO：一种通用的基于学习的 VO

+ **论文**：Wang W, Hu Y, Scherer S. [**TartanVO: A Generalizable Learning-based VO**](https://arxiv.org/abs/2011.00359)[J]. arXiv preprint arXiv:2011.00359, **2020**.

+ **代码**：https://github.com/castacks/tartanvo

+ 数据集：IROS2020 [**TartanAir: A Dataset to Push the Limits of Visual SLAM**](https://arxiv.org/abs/2003.14338)，[数据集地址](http://theairlab.org/tartanair-dataset/)

#### 17. DF-VO

+ **论文**：Zhan H, Weerasekera C S, Bian J W, et al. [**DF-VO: What Should Be Learnt for Visual Odometry?**](https://arxiv.org/abs/2103.00933)[J]. arXiv preprint arXiv:2103.00933, **2021**. 

    + Zhan H, Weerasekera C S, Bian J W, et al. [**Visual odometry revisited: What should be learnt?**](https://ieeexplore.ieee.org/abstract/document/9197374/)[C]//2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2020**: 4203-4210.

+ **代码**：https://github.com/Huangying-Zhan/DF-VO

### :smile: 1.3 Multi-Landmarks / Object SLAM

#### 1. PL-SVO（点线 SVO）

+ **论文**：Gomez-Ojeda R, Briales J, Gonzalez-Jimenez J. [**PL-SVO: Semi-direct Monocular Visual Odometry by combining points and line segments**](http://mapir.isa.uma.es/rgomez/publications/iros16plsvo.pdf)[C]//Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, **2016**: 4211-4216.

+ **代码**：https://github.com/rubengooj/pl-svo

#### 2. stvo-pl（双目点线 VO）

+ **论文**：Gomez-Ojeda R, Gonzalez-Jimenez J. [**Robust stereo visual odometry through a probabilistic combination of points and line segments**](https://riuma.uma.es/xmlui/bitstream/handle/10630/11515/icra16rgo.pdf?sequence=1&isAllowed=y)[C]//2016 IEEE International Conference on Robotics and Automation (**ICRA**). IEEE, **2016**: 2521-2526.

+ **代码**：https://github.com/rubengooj/stvo-pl

#### 3. PL-SLAM（点线 SLAM）

+ **论文**：Gomez-Ojeda R, Zuñiga-Noël D, Moreno F A, et al. [**PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments**](https://arxiv.org/pdf/1705.09479.pdf)[J]. arXiv preprint arXiv:1705.09479, **2017**.

+ **代码**：https://github.com/rubengooj/pl-slam

+ Gomez-Ojeda R, Moreno F A, Zuñiga-Noël D, et al. [**PL-SLAM: a stereo SLAM system through the combination of points and line segments**](https://arxiv.org/pdf/1705.09479)[J]. IEEE Transactions on Robotics, **2019**, 35(3): 734-746.

#### 4. PL-VIO

+ **论文**：He Y, Zhao J, Guo Y, et al. [**PL-VIO: Tightly-coupled monocular visual–inertial odometry using point and line features**](https://www.mdpi.com/1424-8220/18/4/1159)[J]. Sensors, **2018**, 18(4): 1159.

+ **代码**：https://github.com/HeYijia/PL-VIO

+ **VINS + 线段**：https://github.com/Jichao-Peng/VINS-Mono-Optimization

#### 5. lld-slam（用于 SLAM 的可学习型线段描述符）

+ **论文**：Vakhitov A, Lempitsky V. [**Learnable line segment descriptor for visual SLAM**](https://ieeexplore.ieee.org/iel7/6287639/6514899/08651490.pdf)[J]. IEEE Access, **2019**, 7: 39923-39934.

+ **代码**：https://github.com/alexandervakhitov/lld-slam ；[**Video**](https://www.youtube.com/watch?v=ntFFiwXIhoA)

> 点线结合的工作还有很多，国内的比如        

> + 上交邹丹平老师的 Zou D, Wu Y, Pei L, et al. [**StructVIO: visual-inertial odometry with structural regularity of man-made environments**](https://arxiv.org/pdf/1810.06796)[J]. IEEE Transactions on Robotics, **2019**, 35(4): 999-1013.         

> + 浙大的 Zuo X, Xie X, Liu Y, et al. [**Robust visual SLAM with point and line features**](https://arxiv.org/pdf/1711.08654)[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017: 1775-1782.

#### 6. PlaneSLAM

+ **论文**：Wietrzykowski J. [**On the representation of planes for efficient graph-based slam with high-level features**](https://yadda.icm.edu.pl/baztech/element/bwmeta1.element.baztech-7ac7a8f3-9caa-4a34-8a27-8f6c5f43408b)[J]. Journal of Automation Mobile Robotics and Intelligent Systems, **2016**, 10.

+ **代码**：https://github.com/LRMPUT/PlaneSLAM

+ 作者另外一项开源代码，没有找到对应的论文：https://github.com/LRMPUT/PUTSLAM

#### 7. Eigen-Factors（特征因子平面对齐）

+ **论文**：Ferrer G. [**Eigen-Factors: Plane Estimation for Multi-Frame and Time-Continuous Point Cloud Alignment**](http://sites.skoltech.ru/app/data/uploads/sites/50/2019/07/ferrer2019planes.pdf)[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2019**: 1278-1284.

+ **代码**：https://gitlab.com/gferrer/eigen-factors-iros2019 ；[演示视频](https://www.youtube.com/watch?v=_1u_c43DFUE&feature=youtu.be)

#### 8. PlaneLoc

+ **论文**：Wietrzykowski J, Skrzypczyński P. [**PlaneLoc: Probabilistic global localization in 3-D using local planar features**]()[J]. Robotics and Autonomous Systems, **2019**, 113: 160-173.

+ **代码**：https://github.com/LRMPUT/PlaneLoc

#### 9. Pop-up SLAM

+ **论文**：Yang S, Song Y, Kaess M, et al. [**Pop-up slam: Semantic monocular plane slam for low-texture environments**](https://arxiv.org/pdf/1703.07334.pdf)[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2016**: 1222-1229.

+ **代码**：https://github.com/shichaoy/pop_up_slam

#### 10. Object SLAM

+ **论文**：Mu B, Liu S Y, Paull L, et al. [**Slam with objects using a nonparametric pose graph**](https://arxiv.org/pdf/1704.05959.pdf)[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2016**: 4602-4609.

+ **代码**：https://github.com/BeipengMu/objectSLAM ；[Video](https://www.youtube.com/watch?v=YANUWdVLJD4&feature=youtu.be)

#### 11. voxblox-plusplus（物体级体素建图）

+ **论文**：Grinvald M, Furrer F, Novkovic T, et al. [**Volumetric instance-aware semantic mapping and 3D object discovery**](https://arxiv.org/pdf/1903.00268.pdf)[J]. IEEE Robotics and Automation Letters, **2019**, 4(3): 3037-3044.

+ **代码**：https://github.com/ethz-asl/voxblox-plusplus

#### 12. Cube SLAM

+ **论文**：Yang S, Scherer S. [**Cubeslam: Monocular 3-d object slam**](https://arxiv.org/pdf/1806.00557)[J]. IEEE Transactions on Robotics, **2019**, 35(4): 925-938.

+ **代码**：https://github.com/shichaoy/cube_slam

+ 对，这就是带我入坑的一项工作，2018 年 11 月份看到这篇论文（当时是预印版）之后开始学习物体级 SLAM，个人对 Cube SLAM 的一些注释和总结：[链接](https://wym.netlify.app/categories/cube-slam/)。

+ 也有很多有意思的但没开源的物体级 SLAM

    + Ok K, Liu K, Frey K, et al. [**Robust Object-based SLAM for High-speed Autonomous Navigation**](http://groups.csail.mit.edu/rrg/papers/OkLiu19icra.pdf)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 669-675.

    + Li J, Meger D, Dudek G. [**Semantic Mapping for View-Invariant Relocalization**](https://www.cim.mcgill.ca/~mrl/pubs/jimmy/li2019icra.pdf)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 7108-7115.

    + Nicholson L, Milford M, Sünderhauf N. [**Quadricslam: Dual quadrics from object detections as landmarks in object-oriented slam**](https://arxiv.org/pdf/1804.04011)[J]. IEEE Robotics and Automation Letters, **2018**, 4(1): 1-8.

#### 13. VPS-SLAM（平面语义 SLAM）

+ **论文**：Bavle H, De La Puente P, How J, et al. [**VPS-SLAM: Visual Planar Semantic SLAM for Aerial Robotic Systems**](https://ieeexplore.ieee.org/iel7/6287639/8948470/09045978.pdf)[J]. IEEE Access, **2020**.

+ **代码**：https://bitbucket.org/hridaybavle/semantic_slam/src/master/

#### 14. Structure-SLAM （低纹理环境下点线 SLAM）

+ **论文**：Li Y, Brasch N, Wang Y, et al. [**Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments**](https://ieeexplore.ieee.org/abstract/document/9165014)[J]. IEEE Robotics and Automation Letters, **2020**, 5(4): 6583-6590.

+ **代码**：https://github.com/yanyan-li/Structure-SLAM-PointLine

#### 15. PL-VINS

+ **论文**：Fu Q, Wang J, Yu H, et al. [**PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line**](https://arxiv.org/abs/2009.07462)[J]. arXiv preprint arXiv:2009.07462, **2020**.

+ **代码**：https://github.com/cnqiangfu/PL-VINS

### :smile: 1.4 Sensor Fusion

#### 1. msckf_vio

+ **论文**：Sun K, Mohta K, Pfrommer B, et al. [**Robust stereo visual inertial odometry for fast autonomous flight**](https://arxiv.org/pdf/1712.00036)[J]. IEEE Robotics and Automation Letters, **2018**, 3(2): 965-972.

+ **代码**：https://github.com/KumarRobotics/msckf_vio ；[Video](https://www.youtube.com/watch?v=jxfJFgzmNSw&t)

#### 2. rovio

+ **论文**：Bloesch M, Omari S, Hutter M, et al. [**Robust visual inertial odometry using a direct EKF-based approach**](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/155340/1/eth-48374-01.pdf)[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](https://www.youtube.com/watch?v=ZMAISVy-6ao&feature=youtu.be)

#### 3. R-VIO

+ **论文**：Huai Z, Huang G. [**Robocentric visual-inertial odometry**](https://arxiv.org/pdf/1805.04031)[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](https://www.youtube.com/watch?v=l9IC2ddBEYQ)

+ **VI_ORB_SLAM2**：https://github.com/YoujieXia/VI_ORB_SLAM2

#### 4. okvis

+ **论文**：Leutenegger S, Lynen S, Bosse M, et al. [**Keyframe-based visual–inertial odometry using nonlinear optimization**](https://spiral.imperial.ac.uk/bitstream/10044/1/23413/2/ijrr2014_revision_1.pdf)[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](https://arxiv.org/pdf/1610.05949.pdf)[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**](https://arxiv.org/pdf/1708.03852)[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**](https://www.mdpi.com/1424-8220/19/10/2251)[J]. Sensors, **2019**, 19(10): 2251.

+ **代码**：https://github.com/STAR-Center/VINS-RGBD ；[**Video**](https://robotics.shanghaitech.edu.cn/datasets/VINS-RGBD)

#### 8. Open-VINS

+ **论文**：Geneva P, Eckenhoff K, Lee W, et al. [**Openvins: A research platform for visual-inertial estimation**](https://pdfs.semanticscholar.org/cb63/60f21255834297e32826bff6366a769b49e9.pdf)[C]//IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications, Macau, China. **IROS 2019**.

+ **代码**：https://github.com/rpng/open_vins

#### 9. versavis（多功能的视惯传感器系统）

+ 论文：Tschopp F, Riner M, Fehr M, et al. [**VersaVIS—An Open Versatile Multi-Camera Visual-Inertial Sensor Suite**](https://www.mdpi.com/1424-8220/20/5/1439)[J]. Sensors, **2020**, 20(5): 1439.

+ 代码：https://github.com/ethz-asl/versavis

#### 10. CPI（视惯融合的封闭式预积分）

+ **论文**：Eckenhoff K, Geneva P, Huang G. [**Closed-form preintegration methods for graph-based visual–inertial navigation**](http://sage.cnpereading.com/paragraph/article/10.1177/0278364919835021)[J]. The International Journal of Robotics Research, 2018.

+ **代码**：https://github.com/rpng/cpi ；[**Video**](https://www.youtube.com/watch?v=yIgQX2SH_pI)

#### 11. TUM Basalt

+ **论文**：Usenko V, Demmel N, Schubert D, et al. [Visual-inertial mapping with non-linear factor recovery](https://link.zhihu.com/?target=https%3A//arxiv.org/pdf/1904.06504.pdf)[J]. IEEE Robotics and Automation Letters, **2019**.

+ **代码**：[https://github.com/VladyslavUsenko/basalt-mirror](https://link.zhihu.com/?target=https%3A//github.com/VladyslavUsenko/basalt-mirror) ；[Video](https://link.zhihu.com/?target=https%3A//www.youtube.com/watch%3Fv%3Dr3CJ2JP75Tc)；[Project Page](https://link.zhihu.com/?target=https%3A//vision.in.tum.de/research/vslam/basalt)

#### 12. Limo（激光单目视觉里程计）

+ **论文**：Graeter J, Wilczynski A, Lauer M. [**Limo: Lidar-monocular visual odometry**](https://arxiv.org/pdf/1807.07524)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 7872-7879.

+ **代码**：https://github.com/johannes-graeter/limo ； [**Video**](https://www.youtube.com/watch?v=wRemjJBjp64&feature=youtu.be)

#### 13. LARVIO（多状态约束卡尔曼滤波的单目 VIO）

+ **论文**：Qiu X, Zhang H, Fu W, et al. [Monocular Visual-Inertial Odometry with an Unbiased Linear System Model and Robust Feature Tracking Front-End](https://www.mdpi.com/1424-8220/19/8/1941)[J]. Sensors, **2019**, 19(8): 1941.

+ **代码**：https://github.com/PetWorm/LARVIO

+ 北航邱笑晨博士的一项工作

#### 14. vig-init（垂直边缘加速视惯初始化）

+ **论文**：Li J, Bao H, Zhang G. [**Rapid and Robust Monocular Visual-Inertial Initialization with Gravity Estimation via Vertical Edges**](http://www.cad.zju.edu.cn/home/gfzhang/projects/iros2019-vi-initialization.pdf)[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2019**: 6230-6236.

+ **代码**：https://github.com/zju3dv/vig-init

+ 浙大章国峰老师组的一项工作

#### 15. vilib（VIO 前端库）

+ **论文**：Nagy B, Foehn P, Scaramuzza D. [**Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO**](https://arxiv.org/pdf/2003.13493)[J]. arXiv preprint arXiv:2003.13493, **2020**.

+ **代码**：https://github.com/uzh-rpg/vilib

#### 16. Kimera-VIO

+ **论文**：A. Rosinol, M. Abate, Y. Chang, L. Carlone, [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/abs/1910.02490). IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.

+ **代码**：https://github.com/MIT-SPARK/Kimera-VIO

#### 17. maplab（视惯建图框架）

+ **论文**：Schneider T, Dymczyk M, Fehr M, et al. [**maplab: An open framework for research in visual-inertial mapping and localization**](https://arxiv.org/pdf/1711.10250)[J]. IEEE Robotics and Automation Letters, **2018**, 3(3): 1418-1425. 

+ **代码**：https://github.com/ethz-asl/maplab

+ 多会话建图，地图合并，视觉惯性批处理优化和闭环

#### 18. lili-om：固态雷达惯性里程计与建图

+ **论文**：Li K, Li M, Hanebeck U D. [**Towards high-performance solid-state-lidar-inertial odometry and mapping**](https://arxiv.org/abs/2010.13150)[J]. arXiv preprint arXiv:2010.13150, **2020**.

+ **代码**：https://github.com/KIT-ISAS/lili-om

#### 19. CamVox：Lidar 辅助视觉 SLAM

+ **论文**：ZHU, Yuewen, et al. [**CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System**](https://arxiv.org/abs/2011.11357). arXiv preprint arXiv:2011.11357, **2020**.

+ **代码**：https://github.com/ISEE-Technology/CamVox

#### 20. SSL_SLAM：固态 LiDAR 轻量级 3D 定位与建图

+ **论文**：Wang H, Wang C, Xie L. [**Lightweight 3-D Localization and Mapping for Solid-State LiDAR**](https://ieeexplore.ieee.org/abstract/document/9357899)[J]. IEEE Robotics and Automation Letters, **2021**, 6(2): 1801-1807.

+ **代码**：https://github.com/wh200720041/SSL_SLAM

#### 21. r2live：LiDAR-Inertial-Visual 紧耦合

+ **论文**：Lin J, Zheng C, Xu W, et al. [**R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping**](https://arxiv.org/abs/2102.12400)[J]. arXiv preprint arXiv:2102.12400, **2021**.

+ **代码**：https://github.com/hku-mars/r2live

#### 22. GVINS：GNSS-视觉-惯导紧耦合

+ **论文**：Cao S, Lu X, Shen S. [**GVINS: Tightly Coupled GNSS-Visual-Inertial for Smooth and Consistent State Estimation**](https://ui.adsabs.harvard.edu/abs/2021arXiv210307899C/abstract)[J]. arXiv e-prints, **2021**: arXiv: 2103.07899.

+ **代码**：https://github.com/HKUST-Aerial-Robotics/GVINS

#### 23. LVI-SAM：Lidar-Visual-Inertial 建图与定位

+ **论文**：Shan T, Englot B, Ratti C, et al. [**LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping**](https://arxiv.org/abs/2104.10831)[J]. arXiv preprint arXiv:2104.10831, **2021**. (ICRA2021)

+ **代码**：https://github.com/TixiaoShan/LVI-SAM

### :smile: 1.5 Dynamic SLAM

#### 1. DynamicSemanticMapping（动态语义建图）

+ **论文**：Kochanov D, Ošep A, Stückler J, et al. [**Scene flow propagation for semantic mapping and object discovery in dynamic street scenes**](http://web-info8.informatik.rwth-aachen.de/media/papers/paper_compressed.pdf)[C]//Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, **2016**: 1785-1792.

+ **代码**：https://github.com/ganlumomo/DynamicSemanticMapping ；[wiki](https://github.com/ganlumomo/DynamicSemanticMapping/wiki)

#### 2. DS-SLAM（动态语义 SLAM）

+ **论文**：Yu C, Liu Z, Liu X J, et al. [**DS-SLAM: A semantic visual SLAM towards dynamic environments**](https://arxiv.org/pdf/1809.08379)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 1168-1174.

+ **代码**：https://github.com/ivipsourcecode/DS-SLAM

#### 3. Co-Fusion（实时分割与跟踪多物体）

+ **论文**：Rünz M, Agapito L. [**Co-fusion: Real-time segmentation, tracking and fusion of multiple objects**](https://ieeexplore.ieee.org/abstract/document/7989518)[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017: 4471-4478.

+ **代码**：https://github.com/martinruenz/co-fusion ； [Video](http://visual.cs.ucl.ac.uk/pubs/cofusion/index.html)

#### 4. DynamicFusion

+ **论文**：Newcombe R A, Fox D, Seitz S M. [**Dynamicfusion: Reconstruction and tracking of non-rigid scenes in real-time**](https://www.cv-foundation.org/openaccess/content_cvpr_2015/papers/Newcombe_DynamicFusion_Reconstruction_and_2015_CVPR_paper.pdf)[C]//Proceedings of the IEEE conference on computer vision and pattern recognition. **2015**: 343-352.

+ **代码**：https://github.com/mihaibujanca/dynamicfusion

#### 5. ReFusion（动态场景利用残差三维重建）

+ **论文**：Palazzolo E, Behley J, Lottes P, et al. [**ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals**](https://arxiv.org/pdf/1905.02082.pdf)[J]. arXiv preprint arXiv:1905.02082, **2019**.

+ **代码**：https://github.com/PRBonn/refusion ；[**Video**](https://www.youtube.com/watch?v=1P9ZfIS5-p4&feature=youtu.be)

#### 6. DynSLAM（室外大规模稠密重建）

+ **论文**：Bârsan I A, Liu P, Pollefeys M, et al. [**Robust dense mapping for large-scale dynamic environments**](https://arxiv.org/pdf/1905.02781.pdf?utm_term)[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2018**: 7510-7517.

+ **代码**：https://github.com/AndreiBarsan/DynSLAM

+ **作者博士学位论文**：Barsan I A. [**Simultaneous localization and mapping in dynamic scenes**](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/202829/1/Barsan_Ioan.pdf)[D]. ETH Zurich, Department of Computer Science, **2017**.

#### 7. VDO-SLAM（动态物体感知的 SLAM）

+ **论文**：Zhang J, Henein M, Mahony R, et al. [**VDO-SLAM: A Visual Dynamic Object-aware SLAM System**](https://arxiv.org/abs/2005.11052)[J]. arXiv preprint arXiv:2005.11052, **2020**.（IJRR Under Review）

  + 相关论文

    + IROS 2020 [Robust Ego and Object 6-DoF Motion Estimation and Tracking](https://arxiv.org/abs/2007.13993)

    + ICRA 2020 [Dynamic SLAM: The Need For Speed](https://arxiv.org/abs/2002.08584)

+ **代码**：https://github.com/halajun/VDO_SLAM | [video](https://drive.google.com/file/d/1PbL4KiJ3sUhxyJSQPZmRP6mgi9dIC0iu/view)

### :smile: 1.6 Mapping

#### 1. InfiniTAM（跨平台 CPU 实时重建）

+ 论文：Prisacariu V A, Kähler O, Golodetz S, et al. [**Infinitam v3: A framework for large-scale 3d reconstruction with loop closure**](https://arxiv.org/pdf/1708.00783)[J]. arXiv preprint arXiv:1708.00783, **2017**.

+ 代码：https://github.com/victorprad/InfiniTAM ；[project page](http://www.robots.ox.ac.uk/~victor/infinitam/)

#### 2. BundleFusion

+ **论文**：Dai A, Nießner M, Zollhöfer M, et al. [**Bundlefusion: Real-time globally consistent 3d reconstruction using on-the-fly surface reintegration**](https://arxiv.org/pdf/1604.01093.pdf)[J]. ACM Transactions on Graphics (TOG), **2017**, 36(4): 76a.

+ **代码**：https://github.com/niessner/BundleFusion ；[工程地址](http://graphics.stanford.edu/projects/bundlefusion/)

  

#### 3. KinectFusion

+ **论文**：Newcombe R A, Izadi S, Hilliges O, et al. [**KinectFusion: Real-time dense surface mapping and tracking**](https://www.microsoft.com/en-us/research/wp-content/uploads/2016/02/kinectfusion-uist-comp.pdf)[C]//2011 10th IEEE International Symposium on Mixed and Augmented Reality. IEEE, **2011**: 127-136.

+ **代码**：https://github.com/chrdiller/KinectFusionApp

#### 4. ElasticFusion

+ **论文**：Whelan T, Salas-Moreno R F, Glocker B, et al. [**ElasticFusion: Real-time dense SLAM and light source estimation**](https://spiral.imperial.ac.uk/bitstream/10044/1/39502/4/Whelan16ijrr.pdf)[J]. The International Journal of Robotics Research, **2016**, 35(14): 1697-1716.

+ **代码**：https://github.com/mp3guy/ElasticFusion

#### 5. Kintinuous

+ ElasticFusion 同一个团队的工作，帝国理工 Stefan Leutenegger [谷歌学术](https://scholar.google.com/citations?user=SmGQ48gAAAAJ&hl=zh-CN&oi=sra)

+ **论文**：Whelan T, Kaess M, Johannsson H, et al. [**Real-time large-scale dense RGB-D SLAM with volumetric fusion**](https://dspace.mit.edu/bitstream/handle/1721.1/97583/Leonard_Real-time.pdf%3Bjsessionid%3D8C351776D7D5E5C614AF641625837212?sequence%3D1)[J]. The International Journal of Robotics Research, **2015**, 34(4-5): 598-626.

+ **代码**：https://github.com/mp3guy/Kintinuous

#### 6. ElasticReconstruction

+ **论文**：Choi S, Zhou Q Y, Koltun V. [**Robust reconstruction of indoor scenes**](https://www.cv-foundation.org/openaccess/content_cvpr_2015/papers/Choi_Robust_Reconstruction_of_2015_CVPR_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. **2015**: 5556-5565.

+ **代码**：https://github.com/qianyizh/ElasticReconstruction ；[作者主页](http://qianyi.info/publication.html)

#### 7. FlashFusion

+ **论文**：Han L, Fang L. [**FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing**](http://www.roboticsproceedings.org/rss14/p06.pdf)[C]. RSS, 2018.

+ **代码**（一直没放出来）：https://github.com/lhanaf/FlashFusion ； [Project Page](http://www.luvision.net/FlashFusion/?tdsourcetag=s_pctim_aiomsg)

#### 8. RTAB-Map（激光视觉稠密重建）

+ **论文**：Labbé M, Michaud F. [**RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation**](https://pdfs.semanticscholar.org/3957/7f85f3b1a16f496a2160d1a71894d12c1acc.pdf)[J]. Journal of Field Robotics, **2019**, 36(2): 416-446.

+ **代码**：https://github.com/introlab/rtabmap ；[Video](https://www.youtube.com/user/matlabbe) ；[project page](http://introlab.github.io/rtabmap/)

#### 9. RobustPCLReconstruction（户外稠密重建）

+ **论文**：Lan Z, Yew Z J, Lee G H. [**Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes**](http://openaccess.thecvf.com/content_CVPR_2019/papers/Lan_Robust_Point_Cloud_Based_Reconstruction_of_Large-Scale_Outdoor_Scenes_CVPR_2019_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. **2019**: 9690-9698.

+ **代码**：https://github.com/ziquan111/RobustPCLReconstruction ；[Video](https://www.youtube.com/watch?v=ZZQT_REkItU)

#### 10. plane-opt-rgbd（室内平面重建）

+ **论文**：Wang C, Guo X. [**Efficient Plane-Based Optimization of Geometry and Texture for Indoor RGB-D Reconstruction**](http://openaccess.thecvf.com/content_CVPRW_2019/papers/SUMO/Wang_Efficient_Plane-Based_Optimization_of_Geometry_and_Texture_for_Indoor_RGB-D_CVPRW_2019_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops. **2019**: 49-53.

+ **代码**：https://github.com/chaowang15/plane-opt-rgbd

#### 11. DenseSurfelMapping（稠密表面重建）

+ **论文**：Wang K, Gao F, Shen S. [**Real-time scalable dense surfel mapping**](https://arxiv.org/pdf/1909.04250.pdf)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 6919-6925.

+ **代码**：https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping

#### 12. surfelmeshing（网格重建）

+ **论文**：Schöps T, Sattler T, Pollefeys M. [**Surfelmeshing: Online surfel-based mesh reconstruction**](https://arxiv.org/pdf/1810.00729.pdf)[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, **2019**.

+ **代码**：https://github.com/puzzlepaint/surfelmeshing

#### 13. DPPTAM（单目稠密重建）

+ **论文**：Concha Belenguer A, Civera Sancho J. [**DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence**](https://zaguan.unizar.es/record/36752/files/texto_completo.pdf)[C]//Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. **2015** (ART-2015-92153).

+ **代码**：https://github.com/alejocb/dpptam

+ **相关研究**：基于超像素的单目 SLAM：[**Using Superpixels in Monocular SLAM**](http://webdiis.unizar.es/~jcivera/papers/concha_civera_icra14.pdf) ICRA 2014 ；[谷歌学术](https://scholar.google.com/citations?user=GIaG3CsAAAAJ&hl=zh-CN&oi=sra)

#### 14. VI-MEAN（单目视惯稠密重建）

+ **论文**：Yang Z, Gao F, Shen S. [**Real-time monocular dense mapping on aerial robots using visual-inertial fusion**](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989529)[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017: 4552-4559.

+ **代码**：https://github.com/dvorak0/VI-MEAN ；[Video](https://www.youtube.com/watch?v=M4BMks6bQbc)

#### 15. REMODE（单目概率稠密重建）

+ **论文**：Pizzoli M, Forster C, Scaramuzza D. [**REMODE: Probabilistic, monocular dense reconstruction in real time**](https://files.ifi.uzh.ch/rpg/website/rpg.ifi.uzh.ch/html/docs/ICRA14_Pizzoli.pdf)[C]//2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014: 2609-2616.

+ **原始开源代码**：https://github.com/uzh-rpg/rpg_open_remode

+ **与 ORB-SLAM2 结合版本**：https://github.com/ayushgaud/ORB_SLAM2  https://github.com/ayushgaud/ORB_SLAM2

#### 16. DeepFactors（实时的概率单目稠密 SLAM）

+ 帝国理工学院戴森机器人实验室

+ **论文**：Czarnowski J, Laidlow T, Clark R, et al. [**DeepFactors: Real-Time Probabilistic Dense Monocular SLAM**](https://arxiv.org/pdf/2001.05049.pdf)[J]. arXiv preprint arXiv:2001.05049, **2020**.

+ **代码**：https://github.com/jczarnowski/DeepFactors （还未放出）

+ 其他论文：Bloesch M, Czarnowski J, Clark R, et al. [**CodeSLAM—learning a compact, optimisable representation for dense visual SLAM**](http://openaccess.thecvf.com/content_cvpr_2018/papers/Bloesch_CodeSLAM_--_Learning_CVPR_2018_paper.pdf)[C]//Proceedings of the IEEE conference on computer vision and pattern recognition. **2018**: 2560-2568.

#### 17. probabilistic_mapping（单目概率稠密重建）

+ 港科沈邵劼老师团队

+ **论文**：Ling Y, Wang K, Shen S. [**Probabilistic dense reconstruction from a moving camera**](https://arxiv.org/pdf/1903.10673.pdf)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 6364-6371.

+ **代码**：https://github.com/ygling2008/probabilistic_mapping

+ 另外一篇稠密重建文章的代码一直没放出来 [Github](https://github.com/ygling2008/dense_mapping) ：Ling Y, Shen S. [**Real‐time dense mapping for online processing and navigation**](https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21868)[J]. Journal of Field Robotics, **2019**, 36(5): 1004-1036.

#### 18. ORB-SLAM2 单目半稠密建图

+ **论文**：Mur-Artal R, Tardós J D. [Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM](https://www.researchgate.net/profile/Raul_Mur-Artal/publication/282807894_Probabilistic_Semi-Dense_Mapping_from_Highly_Accurate_Feature-Based_Monocular_SLAM/links/561cd04308ae6d17308ce267.pdf)[C]//Robotics: Science and Systems. **2015**, 2015.

+ **代码**（本身没有开源，贺博复现的一个版本）：https://github.com/HeYijia/ORB_SLAM2

+ 加上线段之后的半稠密建图

    + **论文**：He S, Qin X, Zhang Z, et al. [**Incremental 3d line segment extraction from semi-dense slam**](https://arxiv.org/pdf/1708.03275)[C]//2018 24th International Conference on Pattern Recognition (ICPR). IEEE, **2018**: 1658-1663.

    + **代码**：https://github.com/shidahe/semidense-lines

    + 作者在此基础上用于指导远程抓取操作的一项工作：https://github.com/atlas-jj/ORB-SLAM-free-space-carving

#### 19. Voxgraph（SDF 体素建图）

+ **论文**：Reijgwart V, Millane A, Oleynikova H, et al. [**Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps**](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/385682/1/Voxgraph-ETHpreprintversion.pdf)[J]. IEEE Robotics and Automation Letters, **2019**, 5(1): 227-234.

+ **代码**：https://github.com/ethz-asl/voxgraph

#### 20. SegMap（三维分割建图）

+ **论文**：Dubé R, Cramariuc A, Dugas D, et al. [**SegMap: 3d segment mapping using data-driven descriptors**](https://arxiv.org/pdf/1804.09557)[J]. arXiv preprint arXiv:1804.09557, **2018**.

+ **代码**：https://github.com/ethz-asl/segmap

#### 21. OpenREALM：无人机实时建图框架

+ **论文**：Kern A, Bobbe M, Khedar Y, et al. [**OpenREALM: Real-time Mapping for Unmanned Aerial Vehicles**](https://arxiv.org/abs/2009.10492)[J]. arXiv preprint arXiv:2009.10492, **2020**.

+ **代码**：https://github.com/laxnpander/OpenREALM

#### 22. c-blox：可拓展的 TSDF 稠密建图

+ **论文**：Millane A, Taylor Z, Oleynikova H, et al. [**C-blox: A scalable and consistent tsdf-based dense mapping approach**](https://ieeexplore.ieee.org/abstract/document/8593427/)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 995-1002.

+ **代码**：https://github.com/ethz-asl/cblox

### :smile: 1.7 Optimization

#### 1. 后端优化库

+ **GTSAM**：https://github.com/borglab/gtsam ；[官网](https://gtsam.org/)

+ **g2o**：https://github.com/RainerKuemmerle/g2o

+ **ceres**：http://ceres-solver.org/

#### 2. ICE-BA

+ **论文**：Liu H, Chen M, Zhang G, et al. [**Ice-ba: Incremental, consistent and efficient bundle adjustment for visual-inertial slam**](http://openaccess.thecvf.com/content_cvpr_2018/papers/Liu_ICE-BA_Incremental_Consistent_CVPR_2018_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. **2018**: 1974-1982.

+ **代码**：https://github.com/baidu/ICE-BA

#### 3. minisam（因子图最小二乘优化框架）

+ **论文**：Dong J, Lv Z. [**miniSAM: A Flexible Factor Graph Non-linear Least Squares Optimization Framework**](https://arxiv.org/pdf/1909.00903.pdf)[J]. arXiv preprint arXiv:1909.00903, **2019**.

+ **代码**：https://github.com/dongjing3309/minisam ； [文档](https://minisam.readthedocs.io/)

#### 4. SA-SHAGO（几何基元图优化）

+ **论文**：Aloise I, Della Corte B, Nardi F, et al. [**Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization**](http://rss2019.informatik.uni-freiburg.de/papers/0285_FI.pdf)[J]. IEEE Robotics and Automation Letters, **2019**, 4(3): 2738-2745.

+ **代码**：https://srrg.gitlab.io/sashago-website/index.html#

#### 5. MH-iSAM2（SLAM 优化器）

+ **论文**：Hsiao M, Kaess M. [**MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree**](http://www.cs.cmu.edu/~kaess/pub/Hsiao19icra.pdf)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 1274-1280.

+ **代码**：https://bitbucket.org/rpl_cmu/mh-isam2_lib/src/master/

#### 6. MOLA（用于定位和建图的模块化优化框架）

+ **论文**：Blanco-Claraco J L. [**A Modular Optimization Framework for Localization and Mapping**](http://roboticsproceedings.org/rss15/p43.pdf)[J]. Proc. of Robotics: Science and Systems (RSS), FreiburgimBreisgau, Germany, **2019**, 2.

+ **代码**：https://github.com/MOLAorg/mola ；[**Video**](https://www.youtube.com/watch?v=Bb92aMBJR44) ；[使用文档](https://docs.mola-slam.org/latest/)

---

## 2. 优秀作者与实验室

> 这一部分整理之后发布在知乎（2020 年 4 月 19 日）：https://zhuanlan.zhihu.com/p/130530891

#### 1. 美国卡耐基梅陇大学机器人研究所

+ **研究方向**：机器人感知、结构，服务型、运输、制造业、现场机器

+ **研究所主页**：https://www.ri.cmu.edu/

+ 下属 **Field Robotic Center** 主页：https://frc.ri.cmu.edu/

+ **发表论文**：https://www.ri.cmu.edu/pubs/

+ 👦 **Michael Kaess**：[个人主页](https://www.ri.cmu.edu/ri-faculty/michael-kaess/) ，[谷歌学术](https://scholar.google.com/citations?user=27eupmsAAAAJ&hl=zh-CN&oi=ao)

+ 👦 **Sebastian Scherer**：[个人主页](https://www.ri.cmu.edu/ri-faculty/sebastian-scherer/) ，[谷歌学术](https://scholar.google.com/citations?hl=zh-CN&user=gxoPfIYAAAAJ)

+ 📜 Kaess M, Ranganathan A, Dellaert F. [**iSAM: Incremental smoothing and mapping**](https://smartech.gatech.edu/bitstream/handle/1853/26572/kaess_michael_200812_phd.pdf?sequence=1&isAllowed=y)[J]. IEEE Transactions on Robotics, **2008**, 24(6): 1365-1378.

+ 📜 Hsiao M, Westman E, Zhang G, et al. [**Keyframe-based dense planar SLAM**](http://www.cs.cmu.edu/~kaess/pub/Hsiao17icra.pdf)[C]//2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2017**: 5110-5117.

+ 📜 Kaess M. [**Simultaneous localization and mapping with infinite planes**](https://www.cs.cmu.edu/~kaess/pub/Kaess15icra.pdf)[C]//2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2015**: 4605-4611.

#### 2. 美国加州大学圣地亚哥分校语境机器人研究所

+ **研究方向**：多模态环境理解，语义导航，自主信息获取

+ **实验室主页**：https://existentialrobotics.org/index.html

+ **发表论文汇总**：https://existentialrobotics.org/pages/publications.html

+ 👦 **Nikolay Atanasov**：[个人主页](https://natanaso.github.io/) [谷歌学术](https://scholar.google.com/citations?user=RTkSatQAAAAJ&hl=zh-CN&oi=sra)

    + 机器人状态估计与感知课程 ppt：https://natanaso.github.io/ece276a2019/schedule.html

+ 📜 **语义 SLAM 经典论文**：Bowman S L, Atanasov N, Daniilidis K, et al. [**Probabilistic data association for semantic slam**](http://erl.ucsd.edu/ref/Bowman_SemanticSLAM_ICRA17.pdf)[C]//2017 IEEE international conference on robotics and automation (ICRA). IEEE, **2017**: 1722-1729.

+ 📜 **实例网格模型定位与建图**：Feng Q, Meng Y, Shan M, et al. [**Localization and Mapping using Instance-specific Mesh Models**](http://erl.ucsd.edu/ref/Feng_DeformableMeshModel_IROS19.pdf)[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2019**: 4985-4991.

+ 📜 **基于事件相机的 VIO**：Zihao Zhu A, Atanasov N, Daniilidis K. [**Event-based visual inertial odometry**](http://openaccess.thecvf.com/content_cvpr_2017/papers/Zhu_Event-Based_Visual_Inertial_CVPR_2017_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. **2017**: 5391-5399.

#### 3. 美国特拉华大学机器人感知与导航组

+ **研究方向**：SLAM、VINS、语义定位与建图等

+ **实验室主页**：https://sites.udel.edu/robot/

+ **发表论文汇总**：https://sites.udel.edu/robot/publications/

+ **Github 地址**：https://github.com/rpng?page=2

+ 📜 Geneva P, Eckenhoff K, Lee W, et al. [**Openvins: A research platform for visual-inertial estimation**](https://pdfs.semanticscholar.org/cb63/60f21255834297e32826bff6366a769b49e9.pdf)[C]//IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications, Macau, China. **IROS 2019**.（**代码**：https://github.com/rpng/open_vins ）

+ 📜 Huai Z, Huang G. [**Robocentric visual-inertial odometry**](https://arxiv.org/pdf/1805.04031)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 6319-6326.（**代码**：https://github.com/rpng/R-VIO ）

+ 📜 Zuo X, Geneva P, Yang Y, et al. [**Visual-Inertial Localization With Prior LiDAR Map Constraints**](https://link.zhihu.com/?target=https%3A//arxiv.org/pdf/1911.05787)[J]. IEEE Robotics and Automation Letters, **2019**, 4(4): 3394-3401.

+ 📜 Zuo X, Ye W, Yang Y, et al. [**Multimodal localization: Stereo over LiDAR map**](https://link.zhihu.com/?target=https%3A//onlinelibrary.wiley.com/doi/abs/10.1002/rob.21936)[J]. Journal of Field Robotics, **2020** （ 左星星博士[谷歌学术](https://link.zhihu.com/?target=https%3A//scholar.google.com/citations%3Fuser%3DCePv8agAAAAJ%26hl%3Dzh-CN%26oi%3Dao)）

+ 👦 [黄国权教授主页](http://udel.edu/~ghuang/index.html)

#### 4. 美国麻省理工学院航空航天实验室

+ **研究方向**：位姿估计与导航，路径规划，控制与决策，机器学习与强化学习

+ **实验室主页**：http://acl.mit.edu/

+ **发表论文**：http://acl.mit.edu/publications （实验室的**学位论文**也可以在这里找到）

+ 👦 **Jonathan P. How** 教授：[个人主页](http://www.mit.edu/people/jhow/)  [谷歌学术](https://scholar.google.com/citations?user=gX7rSCcAAAAJ&hl=en)

+ 👦 **Kasra Khosoussi**（SLAM 图优化）：[谷歌学术](https://scholar.google.com/citations?user=SRCCuo0AAAAJ&hl=zh-CN&oi=sra)

+ 📜 **物体级 SLAM**：Mu B, Liu S Y, Paull L, et al. [**Slam with objects using a nonparametric pose graph**](https://arxiv.org/pdf/1704.05959.pdf?source=post_page---------------------------)[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2016**: 4602-4609.（**代码**：https://github.com/BeipengMu/objectSLAM）

+ 📜 **物体级 SLAM 导航**：Ok K, Liu K, Frey K, et al. [**Robust Object-based SLAM for High-speed Autonomous Navigation**](http://groups.csail.mit.edu/rrg/papers/OkLiu19icra.pdf)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 669-675.

+ 📜 **SLAM 的图优化**：Khosoussi, K., Giamou, M., Sukhatme, G., Huang, S., Dissanayake, G., and How, J. P., [**Reliable Graphs for SLAM**](https://journals.sagepub.com/doi/full/10.1177/0278364918823086) [C]//International Journal of Robotics Research (IJRR), 2019.

#### 5. 美国麻省理工学院 SPARK 实验室

+ **研究方向**：移动机器人环境感知

+ **实验室主页**：http://web.mit.edu/sparklab/

+ 👦 **Luca Carlone** 教授：[个人主页](https://lucacarlone.mit.edu/)  [谷歌学术](https://scholar.google.com/citations?user=U4kKRdMAAAAJ&hl=zh-CN&oi=sra)

+ 📜 **SLAM 经典综述**：Cadena C, Carlone L, Carrillo H, et al. [**Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age**](https://arxiv.org/pdf/1606.05830)[J]. IEEE Transactions on robotics, **2016**, 32(6): 1309-1332.

+ 📜 **VIO 流形预积分**：Forster C, Carlone L, Dellaert F, et al. [**On-Manifold Preintegration for Real-Time Visual--Inertial Odometry**](https://arxiv.org/pdf/1512.02363)[J]. IEEE Transactions on Robotics, **2016**, 33(1): 1-21.

+ 📜 **开源语义 SLAM**：Rosinol A, Abate M, Chang Y, et al. [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/pdf/1910.02490)[J]. arXiv preprint arXiv:1910.02490, **2019**.（代码：https://github.com/MIT-SPARK/Kimera ）

#### 6. 美国麻省理工学院海洋机器人组

+ **研究方向**：水下或陆地移动机器人导航与建图

+ **实验室主页**：https://marinerobotics.mit.edu/ （隶属于 MIT [计算机科学与人工智能实验室](https://www.csail.mit.edu/)）

+ 👦 **John Leonard 教授**：[谷歌学术](https://scholar.google.com/citations?user=WPe7vWwAAAAJ&hl=zh-CN&authuser=1&oi=ao)

+ **发表论文汇总**：https://marinerobotics.mit.edu/biblio

+ 📜 **面向物体的 SLAM**：Finman R, Paull L, Leonard J J. [**Toward object-based place recognition in dense rgb-d maps**](http://marinerobotics.mit.edu/sites/default/files/icra2015.pdf)[C]//ICRA Workshop Visual Place Recognition in Changing Environments, Seattle, WA. **2015**.

+ 📜 **拓展 KinectFusion**：Whelan T, Kaess M, Fallon M, et al. [**Kintinuous: Spatially extended kinectfusion**]()[J]. **2012**.

+ 📜 **语义 SLAM 概率数据关联**：Doherty K, Fourie D, Leonard J. [**Multimodal semantic slam with probabilistic data association**](https://marinerobotics.mit.edu/sites/default/files/doherty_icra2019_revised.pdf)[C]//2019 international conference on robotics and automation (ICRA). IEEE, **2019**: 2419-2425.

#### 7. 美国明尼苏达大学多元自主机器人系统实验室

+ **研究方向**：视觉、激光、惯性导航系统，移动设备大规模三维建模与定位

+ **实验室主页**：http://mars.cs.umn.edu/index.php

+ **发表论文汇总**：http://mars.cs.umn.edu/publications.php

+ 👦 **Stergios I. Roumeliotis**：[个人主页](https://www-users.cs.umn.edu/~stergios/) ，[谷歌学术](https://scholar.google.com/citations?user=c5HeXxsAAAAJ&hl=zh-CN&oi=ao)

+ 📜 **移动设备 VIO**：Wu K, Ahmed A, Georgiou G A, et al. [**A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices**](http://roboticsproceedings.org/rss11/p08.pdf)[C]//Robotics: Science and Systems. **2015**, 2.（**项目主页**：http://mars.cs.umn.edu/research/sriswf.php ）

+ 📜 **移动设备大规模三维半稠密建图**：Guo C X, Sartipi K, DuToit R C, et al. [**Resource-aware large-scale cooperative three-dimensional mapping using multiple mobile devices**](https://pdfs.semanticscholar.org/e0fd/6d963307a0d5d6dfb6f05ad21845dd4f40c8.pdf)[J]. IEEE Transactions on Robotics, **2018**, 34(5): 1349-1369. （**项目主页**：http://mars.cs.umn.edu/research/semi_dense_mapping.php ）

+ 📜 **VIO 相关研究**：http://mars.cs.umn.edu/research/vins_overview.php

#### 8. 美国宾夕法尼亚大学 Vijay Kumar 实验室

+ **研究方向**：自主微型无人机

+ **实验室主页**：https://www.kumarrobotics.org/

+ **发表论文**：https://www.kumarrobotics.org/publications/

+ **研究成果视频**：https://www.youtube.com/user/KumarLabPenn/videos

+ 📜 **无人机半稠密 VIO**：Liu W, Loianno G, Mohta K, et al. [**Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints**](https://www.cis.upenn.edu/~kostas/mypub.dir/wenxin18icra.pdf)[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2018**: 1-6.

+ 📜 **语义数据关联**：Liu X, Chen S W, Liu C, et al. [**Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association**](https://arxiv.org/pdf/1811.01417)[J]. IEEE Robotics and Automation Letters, **2019**, 4(3): 2296-2303.

#### 9. Srikumar Ramalingam（美国犹他大学计算机学院）

+ **研究方向**：三维重构、语义分割、视觉 SLAM、图像定位、深度神经网络

+ 👦 **Srikumar Ramalingam**：[个人主页](https://www.cs.utah.edu/~srikumar/)   [谷歌学术](https://scholar.google.com/citations?user=6m1ptOgAAAAJ&hl=en/)

+ 📜 **点面 SLAM**：Taguchi Y, Jian Y D, Ramalingam S, et al. [**Point-plane SLAM for hand-held 3D sensors**](https://merl.com/publications/docs/TR2013-031.pdf)[C]//2013 IEEE international conference on robotics and automation. IEEE, **2013**: 5182-5189.

+ 📜 **点线定位**：Ramalingam S, Bouaziz S, Sturm P. [**Pose estimation using both points and lines for geo-localization**](https://hal.inria.fr/inria-00590279/document)[C]//2011 IEEE International Conference on Robotics and Automation. IEEE, **2011**: 4716-4723.（[视频](https://www.youtube.com/watch?v=wc7hK0zEkCw&feature=emb_logo)）

+ 📜 **2D 3D 定位**：Ataer-Cansizoglu E, Taguchi Y, Ramalingam S. [**Pinpoint SLAM: A hybrid of 2D and 3D simultaneous localization and mapping for RGB-D sensors**](http://yuichitaguchi.com/pub/16ICRA_PinpointSLAM.pdf)[C]//2016 IEEE international conference on robotics and automation (ICRA). IEEE, **2016**: 1300-1307.（[视频](https://www.youtube.com/watch?v=iZ1psxcMvrQ&feature=emb_logo)）

#### 10. Frank Dellaert（美国佐治亚理工学院机器人与智能机器研究中心）

+ **研究方向**：SLAM，图像时空重构

+ 👦 [个人主页](https://www.cc.gatech.edu/~dellaert/FrankDellaert/Frank_Dellaert/Frank_Dellaert.html)，[谷歌学术](https://scholar.google.com/citations?user=ZxXBaswAAAAJ&hl=en)

+ 📜 **因子图**：Dellaert F. [**Factor graphs and GTSAM: A hands-on introduction**](https://smartech.gatech.edu/handle/1853/45226)[R]. Georgia Institute of Technology, **2012**. （GTSAM 代码：http://borg.cc.gatech.edu/ ）

+ 📜 **多机器人分布式 SLAM**：Cunningham A, Wurm K M, Burgard W, et al. [**Fully distributed scalable smoothing and mapping with robust multi-robot data association**](https://smartech.gatech.edu/bitstream/handle/1853/44686/Cunningham12icra.pdf?sequence=1&isAllowed=y)[C]//2012 IEEE International Conference on Robotics and Automation. IEEE, **2012**: 1093-1100.

+ 📜 Choudhary S, Trevor A J B, Christensen H I, et al. [**SLAM with object discovery, modeling and mapping**](https://smartech.gatech.edu/bitstream/handle/1853/53723/Choudhary14iros.pdf)[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, **2014**: 1018-1025.

#### 11. Patricio Vela （美国佐治亚理工学院智能视觉与自动化实验室）

+ **研究方向**：机器人控制、定位与导航

+ **实验室主页**：http://ivalab.gatech.edu/

+ 👦 Patricio Vela [个人主页](https://pvela.gatech.edu/)

+ 👦 赵轶璞 [个人主页](https://sites.google.com/site/zhaoyipu/home?authuser=0)   [谷歌学术](https://scholar.google.com/citations?user=HiM_WcYAAAAJ&hl=zh-CN&authuser=1&oi=ao)

+ 📜 Zhao Y, Smith J S, Karumanchi S H, et al. [**Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy**](https://arxiv.org/pdf/2003.01317)[J]. arXiv preprint arXiv:2003.01317, **2020**.

+ 📜 Zhao Y, Vela P A. [**Good feature selection for least squares pose optimization in VO/VSLAM**](https://arxiv.org/pdf/1905.07807)[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2018**: 1183-1189.（**代码**：https://github.com/ivalab/FullResults_GoodFeature ）

+ 📜 Zhao Y, Vela P A. [**Good line cutting: Towards accurate pose tracking of line-assisted VO/VSLAM**](http://openaccess.thecvf.com/content_ECCV_2018/papers/Yipu_Zhao_Good_Line_Cutting_ECCV_2018_paper.pdf)[C]//Proceedings of the European Conference on Computer Vision (ECCV). **2018**: 516-531. （**代码**：https://github.com/ivalab/GF_PL_SLAM ）

#### 12. 加拿大蒙特利尔大学 机器人与嵌入式 AI 实验室

+ **研究方向**：SLAM，不确定性建模

+ **实验室主页**：http://montrealrobotics.ca/

+ 👦 **Liam Paull** 教授：[个人主页](https://liampaull.ca/index.html) [谷歌学术](https://scholar.google.com/citations?user=H9xADK0AAAAJ&hl=zh-CN&oi=ao)

+ 📜 Mu B, Liu S Y, Paull L, et al. [**Slam with objects using a nonparametric pose graph**](https://arxiv.org/pdf/1704.05959.pdf?source=post_page---------------------------)[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2016**: 4602-4609.（**代码**：https://github.com/BeipengMu/objectSLAM）

+ 📜 Murthy Jatavallabhula K, Iyer G, Paull L. [**gradSLAM: Dense SLAM meets Automatic Differentiation**](http://adsabs.harvard.edu/abs/2019arXiv191010672M)[J]. arXiv preprint arXiv:1910.10672, **2019**.（**代码**：https://github.com/montrealrobotics/gradSLAM ）

#### 13. 加拿大舍布鲁克大学智能、交互、综合、跨学科机器人实验室

+ **研究方向**：移动机器人软硬件设计

+ **实验室主页**：https://introlab.3it.usherbrooke.ca/

+ 📜 **激光视觉稠密重建**：Labbé M, Michaud F. [**RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation**](https://pdfs.semanticscholar.org/3957/7f85f3b1a16f496a2160d1a71894d12c1acc.pdf)[J]. Journal of Field Robotics, **2019**, 36(2): 416-446.

    + 代码：https://github.com/introlab/rtabmap

    + 项目主页：http://introlab.github.io/rtabmap/

    

#### 14. 瑞士苏黎世大学机器人与感知课题组

+ **研究方向**：移动机器人、无人机环境感知与导航，**VISLAM**，**事件相机**

+ **实验室主页**：http://rpg.ifi.uzh.ch/index.html

+ **发表论文汇总**：http://rpg.ifi.uzh.ch/publications.html

+ **Github 代码公开地址**：https://github.com/uzh-rpg

+ 📜 Forster C, Pizzoli M, Scaramuzza D. [**SVO: Fast semi-direct monocular visual odometry**](https://www.zora.uzh.ch/id/eprint/125453/1/ICRA14_Forster.pdf)[C]//2014 IEEE international conference on robotics and automation (ICRA). IEEE, **2014**: 15-22.

+ 📜 VO/VIO 轨迹评估工具 **rpg_trajectory_evaluation**：https://github.com/uzh-rpg/rpg_trajectory_evaluation

+ 📜 事件相机项目主页：http://rpg.ifi.uzh.ch/research_dvs.html

+ 👦 **人物**：[Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html)  [张子潮](https://www.ifi.uzh.ch/en/rpg/people/zichao.html)

#### 15. 瑞士苏黎世联邦理工计算机视觉与几何实验室

+ **研究方向**：定位、三维重建、语义分割、机器人视觉

+ **实验室主页**：http://www.cvg.ethz.ch/index.php

+ **发表论文**：http://www.cvg.ethz.ch/publications/

+ 📜 **视觉语义里程计**：Lianos K N, Schonberger J L, Pollefeys M, et al. [**Vso: Visual semantic odometry**](http://openaccess.thecvf.com/content_ECCV_2018/papers/Konstantinos-Nektarios_Lianos_VSO_Visual_Semantic_ECCV_2018_paper.pdf)[C]//Proceedings of the European conference on computer vision (ECCV). **2018**: 234-250.

+ 📜 **视觉语义定位**：CVPR 2018 [**Semantic visual localization**](http://openaccess.thecvf.com/content_cvpr_2018/papers/Schonberger_Semantic_Visual_Localization_CVPR_2018_paper.pdf)

    + **作者博士学位论文**：2018 [**Robust Methods for Accurate and Efficient 3D Modeling from Unstructured Imagery**](https://www.research-collection.ethz.ch/handle/20.500.11850/295763)

+ 📜 **大规模户外建图**：Bârsan I A, Liu P, Pollefeys M, et al. [**Robust dense mapping for large-scale dynamic environments**](https://arxiv.org/pdf/1905.02781.pdf?utm_term)[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, **2018**: 7510-7517.

    + **代码**：https://github.com/AndreiBarsan/DynSLAM 

    + **作者博士学位论文**：Barsan I A. [**Simultaneous localization and mapping in dynamic scenes**](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/202829/1/Barsan_Ioan.pdf)[D]. ETH Zurich, Department of Computer Science, **2017**.

+ 👦 **Marc Pollefeys**：[个人主页](http://people.inf.ethz.ch/pomarc/index.html)，[谷歌学术](https://scholar.google.com/citations?user=YYH0BjEAAAAJ&hl=zh-CN&oi=ao)

+ 👦 **Johannes L. Schönberger**：[个人主页](https://demuc.de/)，[谷歌学术](https://scholar.google.com/citations?user=MlcMCd0AAAAJ)

#### 16. 英国帝国理工学院戴森机器人实验室

+ **研究方向**：机器人视觉场景与物体理解、机器人操纵

+ **实验室主页**：https://www.imperial.ac.uk/dyson-robotics-lab/

+ **发表论文**：https://www.imperial.ac.uk/dyson-robotics-lab/publications/

+ **代表性工作**：**MonoSLAM、CodeSLAM、ElasticFusion、KinectFusion**

    + 📜 **ElasticFusion**：Whelan T, Leutenegger S, Salas-Moreno R, et al. [**ElasticFusion: Dense SLAM without a pose graph**](https://spiral.imperial.ac.uk/bitstream/10044/1/23438/2/whelan2015rss.pdf)[C]. Robotics: Science and Systems, **2015**.（**代码**：https://github.com/mp3guy/ElasticFusion ）

    + 📜 **Semanticfusion**：McCormac J, Handa A, Davison A, et al. [**Semanticfusion: Dense 3d semantic mapping with convolutional neural networks**](https://arxiv.org/pdf/1609.05130)[C]//2017 IEEE International Conference on Robotics and automation (ICRA). IEEE, **2017**: 4628-4635.（**代码**：https://github.com/seaun163/semanticfusion ）

    + 📜 **Code-SLAM**：Bloesch M, Czarnowski J, Clark R, et al. [**CodeSLAM—learning a compact, optimisable representation for dense visual SLAM**](http://openaccess.thecvf.com/content_cvpr_2018/papers/Bloesch_CodeSLAM_--_Learning_CVPR_2018_paper.pdf)[C]//Proceedings of the IEEE conference on computer vision and pattern recognition. **2018**: 2560-2568.

+ 👦 **Andrew Davison**：[谷歌学术](https://scholar.google.com/citations?user=A0ae1agAAAAJ&hl=zh-CN&oi=ao)

#### 17. 英国牛津大学信息工程学

+ **研究方向**：SLAM、目标跟踪、运动结构、场景增强、移动机器人运动规划、导航与建图等等等

+ **实验室主页**：http://www.robots.ox.ac.uk/

    + 主动视觉实验室：http://www.robots.ox.ac.uk/ActiveVision/

    + 牛津机器人学院：https://ori.ox.ac.uk/

+ **发表论文汇总**：

    + 主动视觉实验室：http://www.robots.ox.ac.uk/ActiveVision/Publications/index.html

    + 机器人学院：https://ori.ox.ac.uk/publications/papers/

+ **代表性工作**：

    + 📜 Klein G, Murray D. [**PTAM: Parallel tracking and mapping for small AR workspaces**](https://dl.acm.org/ft_gateway.cfm?id=1514363&type=pdf)[C]//2007 6th IEEE and ACM international symposium on mixed and augmented reality. IEEE, **2007**: 225-234.

    + 📜 RobotCar 数据集：https://robotcar-dataset.robots.ox.ac.uk/

+ 👦 **人物**（谷歌学术）：[David Murray](https://scholar.google.com.hk/citations?hl=zh-CN&user=O5QreiwAAAAJ)   [Maurice Fallon](https://ori.ox.ac.uk/ori-people/maurice-fallon/)

+ 部分博士学位论文可以在这里搜到：https://ora.ox.ac.uk/

#### 18. 德国慕尼黑工业大学计算机视觉组

+ **研究方向**：三维重建、机器人视觉、深度学习、**视觉 SLAM** 等

+ **实验室主页**：https://vision.in.tum.de/research/vslam

+ **发表论文汇总**：https://vision.in.tum.de/publications

+ **代表作**：DSO、LDSO、LSD_SLAM、DVO_SLAM

    + 📜 **DSO**：Engel J, Koltun V, Cremers D. [**Direct sparse odometry**](https://ieeexplore.ieee.org/iel7/34/4359286/07898369.pdf)[J]. IEEE transactions on pattern analysis and machine intelligence, **2017**, 40(3): 611-625.（**代码**：https://github.com/JakobEngel/dso ）

    + 📜 **LSD-SLAM**： Engel J, Schöps T, Cremers D. [LSD-SLAM: Large-scale direct monocular SLAM](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.646.7193&rep=rep1&type=pdf)[C]//European conference on computer vision. Springer, Cham, **2014**: 834-849.（**代码**：https://github.com/tum-vision/lsd_slam ）2. 

+ **Github 地址**：https://github.com/tum-vision

+ 👦 **Daniel Cremers** 教授：[个人主页](https://vision.in.tum.de/members/cremers) [谷歌学术](https://scholar.google.com/citations?user=cXQciMEAAAAJ)

+ 👦 **Jakob Engel**（LSD-SLAM，DSO 作者）：[个人主页](https://jakobengel.github.io/)  [谷歌学术](https://scholar.google.de/citations?user=ndOMZXMAAAAJ)

#### 19. 德国马克斯普朗克智能系统研究所嵌入式视觉组

+ **研究方向**：智能体自主环境理解、导航与物体操纵

+ **实验室主页**：https://ev.is.tuebingen.mpg.de/

+ 👦 负责人 **Jörg Stückler**（前 TUM 教授）：[个人主页](https://ev.is.tuebingen.mpg.de/person/jstueckler)   [谷歌学术](https://scholar.google.de/citations?user=xrOzfucAAAAJ&hl=de)

+ 📜 **发表论文汇总**：https://ev.is.tuebingen.mpg.de/publications

+ Kasyanov A, Engelmann F, Stückler J, et al. [**Keyframe-based visual-inertial online SLAM with relocalization**](https://arxiv.org/pdf/1702.02175)[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2017**: 6662-6669.

+ 📜 Strecke M, Stuckler J. [**EM-Fusion: Dynamic Object-Level SLAM with Probabilistic Data Association**](http://openaccess.thecvf.com/content_ICCV_2019/papers/Strecke_EM-Fusion_Dynamic_Object-Level_SLAM_With_Probabilistic_Data_Association_ICCV_2019_paper.pdf)[C]//Proceedings of the IEEE International Conference on Computer Vision. **2019**: 5865-5874.

+ 📜 Usenko, V., Demmel, N., Schubert, D., Stückler, J., Cremers, D. [**Visual-Inertial Mapping with Non-Linear Factor Recovery**](https://arxiv.org/pdf/1904.06504) IEEE Robotics and Automation Letters (RA-L), 5, **2020**

#### 20. 德国弗莱堡大学智能自主系统实验室

+ **研究方向**：多机器人导航与协作，环境建模与状态估计

+ **实验室主页**：http://ais.informatik.uni-freiburg.de/index_en.php

+ **发表论文汇总**：http://ais.informatik.uni-freiburg.de/publications/index_en.php （学位论文也可以在这里找到）

+ 👦 **Wolfram Burgard**：[谷歌学术](https://scholar.google.com/citations?user=zj6FavAAAAAJ&hl=zh-CN&oi=ao)

+ **开放数据集**：http://aisdatasets.informatik.uni-freiburg.de/

+ 📜 **RGB-D SLAM**：Endres F, Hess J, Sturm J, et al. [**3-D mapping with an RGB-D camera**](http://perpustakaan.unitomo.ac.id/repository/3-D%20Mapping%20With%20an%20RGB-D%20Camera06594910.pdf)[J]. IEEE transactions on robotics, **2013**, 30(1): 177-187.（**代码**：https://github.com/felixendres/rgbdslam_v2 ）

+ 📜 **跨季节的 SLAM**：Naseer T, Ruhnke M, Stachniss C, et al. [**Robust visual SLAM across seasons**](http://ais.informatik.uni-freiburg.de/publications/papers/naseer15iros.pdf)[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, **2015**: 2529-2535.

+ 📜 **博士学位论文**：[Robust Graph-Based Localization and Mapping](http://ais.informatik.uni-freiburg.de/publications/papers/agarwal15phd.pdf) 2015

+ 📜 **博士学位论文**：[Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization](http://ais.informatik.uni-freiburg.de/publications/papers/valada19phd.pdf) 2019

+ 📜 **博士学位论文**：[Robot Localization and Mapping in Dynamic Environments](https://freidok.uni-freiburg.de/fedora/objects/freidok:149938/datastreams/FILE1/content) 2019

#### 21. 西班牙萨拉戈萨大学机器人、感知与实时组 SLAM 实验室

+ **研究方向**：视觉 SLAM、物体 SLAM、非刚性 SLAM、机器人、增强现实

+ **实验室主页**：http://robots.unizar.es/slamlab/

+ **发表论文**：http://robots.unizar.es/slamlab/?extra=3 （论文好像没更新，可以访问下面实验室大佬的谷歌学术查看最新论文）

+ 👦 **J. M. M. Montiel**：[谷歌学术](https://scholar.google.com/citations?user=D99JRxwAAAAJ&hl=zh-CN&oi=sra)

+ 📜 Mur-Artal R, Tardós J D. [**Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras**](https://github.com/raulmur/ORB_SLAM2)[J]. IEEE Transactions on Robotics, **2017**, 33(5): 1255-1262.

+ Gálvez-López D, Salas M, Tardós J D, et al. [**Real-time monocular object slam**](https://arxiv.org/pdf/1504.02398.pdf)[J]. Robotics and Autonomous Systems, **2016**, 75: 435-449.

+ 📜 Strasdat H, Montiel J M M, Davison A J. [**Real-time monocular SLAM: Why filter?**](http://www.hauke.strasdat.net/files/strasdat2010icra.pdf)[C]//2010 IEEE International Conference on Robotics and Automation. IEEE, **2010**: 2657-2664.

+ 📜 Zubizarreta J, Aguinaga I, Montiel J M M. [**Direct sparse mapping**](https://arxiv.org/pdf/1904.06577)[J]. arXiv preprint arXiv:1904.06577, **2019**.

    + Elvira R, Tardós J D, Montiel J M M. [**ORBSLAM-Atlas: a robust and accurate multi-map system**](https://arxiv.org/pdf/1908.11585)[J]. arXiv preprint arXiv:1908.11585, **2019**.

    

#### 22. 西班牙马拉加大学机器感知与智能机器人课题组

+ **研究方向**：自主机器人、人工嗅觉、计算机视觉

+ **实验室主页**：http://mapir.uma.es/mapirwebsite/index.php/topics-2.html

+ **发表论文汇总**：http://mapir.isa.uma.es/mapirwebsite/index.php/publications-menu-home.html

+ 📜 Gomez-Ojeda R, Moreno F A, Zuñiga-Noël D, et al. [**PL-SLAM: a stereo SLAM system through the combination of points and line segments**](https://arxiv.org/pdf/1705.09479)[J]. IEEE Transactions on Robotics, **2019**, 35(3): 734-746.（代码：https://github.com/rubengooj/pl-slam ）

+ 👦 [**Francisco-Angel Moreno**](http://mapir.isa.uma.es/mapirwebsite/index.php/people/199-francisco-moreno-due%C3%B1as)

+ 👦 [**Ruben Gomez-Ojeda**](https://scholar.google.com/citations?user=7jne0V4AAAAJ&hl=zh-CN&oi=sra) 点线 SLAM

    + 📜 Gomez-Ojeda R, Briales J, Gonzalez-Jimenez J. [**PL-SVO: Semi-direct Monocular Visual Odometry by combining points and line segments**](http://mapir.isa.uma.es/rgomez/publications/iros16plsvo.pdf)[C]//Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, **2016**: 4211-4216.（**代码**：https://github.com/rubengooj/pl-svo ）

    + 📜 Gomez-Ojeda R, Gonzalez-Jimenez J. [**Robust stereo visual odometry through a probabilistic combination of points and line segments**](https://riuma.uma.es/xmlui/bitstream/handle/10630/11515/icra16rgo.pdf?sequence=1&isAllowed=y)[C]//2016 IEEE International Conference on Robotics and Automation (**ICRA**). IEEE, **2016**: 2521-2526.（**代码**：https://github.com/rubengooj/stvo-pl ）

    + 📜 Gomez-Ojeda R, Zuñiga-Noël D, Moreno F A, et al. [**PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments**](https://arxiv.org/pdf/1705.09479.pdf)[J]. arXiv preprint arXiv:1705.09479, **2017**.（**代码**：https://github.com/rubengooj/pl-slam ）

#### 23. Alejo Concha（Oculus VR，西班牙萨拉戈萨大学）

+ **研究方向**：SLAM，单目稠密重建，传感器融合

+ 👦 **个人主页**：https://sites.google.com/view/alejoconcha/   [**谷歌学术**](https://scholar.google.com/citations?user=GIaG3CsAAAAJ&hl=zh-CN&oi=sra)

+ Github：https://github.com/alejocb

+ 📜 **IROS 2015** 单目平面重建：[**DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence**](https://zaguan.unizar.es/record/36752/files/texto_completo.pdf) （代码：https://github.com/alejocb/dpptam ）

+ 📜 **IROS 2017** 开源 RGB-D SLAM：[**RGBDTAM: A Cost-Effective and Accurate RGB-D Tracking and Mapping System**](http://webdiis.unizar.es/~jcivera/papers/concha_etal_icra16.pdf)（代码：https://github.com/alejocb/rgbdtam ）

+ 📜 **ICRA 2016**：[**Visual-inertial direct SLAM**](http://webdiis.unizar.es/~jcivera/papers/concha_etal_icra16.pdf)

+ 📜 **ICRA 2014**：[**Using Superpixels in Monocular SLAM**](https://www.researchgate.net/profile/Alejo_Concha/publication/281559193_Using_superpixels_in_monocular_SLAM/links/55edffcb08aedecb68fc6ac2/Using-superpixels-in-monocular-SLAM.pdf)

+ **RSS 2014**：[**Manhattan and Piecewise-Planar Constraints for Dense Monocular Mapping**](http://roboticsproceedings.org/rss10/p16.pdf)

#### 24. 奥地利格拉茨技术大学计算机图形学与视觉研究所

+ **研究方向**：AR/VR，机器人视觉，机器学习，目标识别与三维重建

+ **实验室主页**：https://www.tugraz.at/institutes/icg/home/

+ 👦 **Friedrich Fraundorfer** 教授：[团队主页](https://www.tugraz.at/institutes/icg/research/team-fraundorfer/)  [谷歌学术](https://scholar.google.com/citations?user=M0boL5kAAAAJ&hl=zh-CN&oi=sra)

    + 📜 [**Visual Odometry: Part I The First 30 Years and Fundamentals**](http://www.eng.auburn.edu/~troppel/courses/7970%202015A%20AdvMobRob%20sp15/literature/vis%20odom%20tutor%20part1%20.pdf)

    + 📜 [**Visual Odometry: Part II: Matching, Robustness, Optimization, and Applications**](https://www.zora.uzh.ch/id/eprint/71030/1/Fraundorfer_Scaramuzza_Visual_odometry.pdf)

    + 📜 Schenk F, Fraundorfer F. [**RESLAM: A real-time robust edge-based SLAM system**](https://ieeexplore.ieee.org/abstract/document/8794462/)[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, **2019**: 154-160.（**代码**：https://github.com/fabianschenk/RESLAM ）

+ 👦 **Dieter Schmalstieg** 教授：[团队主页](https://www.tugraz.at/institutes/icg/research/team-schmalstieg/)  [谷歌学术](https://scholar.google.com/citations?user=xXu8K6IAAAAJ&hl=zh-CN&oi=ao)

    + 📜 教科书：[Augmented Reality: Principles and Practice](augmentedrealitybook.org)

    + 📜 Arth C, Pirchheim C, Ventura J, et al. [**Instant outdoor localization and slam initialization from 2.5 d maps**](https://ieeexplore.ieee.org/abstract/document/7164332/)[J]. IEEE transactions on visualization and computer graphics, **2015**, 21(11): 1309-1318.

    + 📜 Hachiuma R, Pirchheim C, Schmalstieg D, et al. [**DetectFusion: Detecting and Segmenting Both Known and Unknown Dynamic Objects in Real-time SLAM**](https://arxiv.org/pdf/1907.09127)[J]. arXiv preprint arXiv:1907.09127, **2019**.

    

#### 25. 波兰波兹南工业大学移动机器人实验室

+ **研究方向**：SLAM，机器人运动规划，控制

+ **实验室主页**：http://lrm.put.poznan.pl/

+ **Github 主页**：https://github.com/LRMPUT

+ 📜 Wietrzykowski J. [**On the representation of planes for efficient graph-based slam with high-level features**](https://yadda.icm.edu.pl/baztech/element/bwmeta1.element.baztech-7ac7a8f3-9caa-4a34-8a27-8f6c5f43408b)[J]. Journal of Automation Mobile Robotics and Intelligent Systems, **2016**, 10.（**代码**：https://github.com/LRMPUT/PlaneSLAM ）

+ 📜 Wietrzykowski J, Skrzypczyński P. [**PlaneLoc: Probabilistic global localization in 3-D using local planar features**](https://www.sciencedirect.com/science/article/pii/S0921889018303701)[J]. Robotics and Autonomous Systems, **2019**.（**代码**：https://github.com/LRMPUT/PlaneLoc ）

+ 📜 **PUTSLAM**：http://lrm.put.poznan.pl/putslam/

#### 26. Alexander Vakhitov（三星莫斯科 AI 中心）

+ **研究方向**：SLAM，几何视觉

+ 👦 **个人主页**：https://alexandervakhitov.github.io/ ，[谷歌学术](https://scholar.google.ru/citations?user=g_2iut0AAAAJ&hl=ru%22)

+ 📜 **点线 SLAM**：ICRA 2017 [**PL-SLAM: Real-time monocular visual SLAM with points and lines**](https://upcommons.upc.edu/bitstream/handle/2117/110259/1836-PL-SLAM--Real-Time-Monocular-Visual-SLAM-with-Points-and-Lines.pdf)

+ 📜 **点线定位**：Pumarola A, Vakhitov A, Agudo A, et al. [**Relative localization for aerial manipulation with PL-SLAM**](https://upcommons.upc.edu/bitstream/handle/2117/182388/2205-Relative-localization-for-aerial-manipulation-with-PL-SLAM.pdf)[M]//Aerial Robotic Manipulation. Springer, Cham, **2019**: 239-248.

+ 📜 **学习型线段**：IEEE Access 2019 [**Learnable line segment descriptor for visual SLAM**](https://ieeexplore.ieee.org/iel7/6287639/6514899/08651490.pdf)（**代码**：https://github.com/alexandervakhitov/lld-slam ）

#### 27. 澳大利亚昆士兰科技大学机器人技术中心

+ **研究方向**：脑启发式机器人，采矿机器人，机器人视觉

+ **实验室主页**：https://www.qut.edu.au/research/centre-for-robotics

+ **开源代码**：https://research.qut.edu.au/qcr/open-source-code/

+ 👦 **Niko Sünderhauf**：[个人主页](https://nikosuenderhauf.github.io/) ，[谷歌学术](https://scholar.google.com/citations?user=WnKjfFEAAAAJ&hl=zh-CN&oi=ao)

    + 📜 RA-L 2018 **二次曲面 SLAM**：[**QuadricSLAM: Dual quadrics from object detections as landmarks in object-oriented SLAM**](https://ieeexplore.ieee.org/abstract/document/8440105/)

    + 📜 Nicholson L, Milford M, Sunderhauf N. [**QuadricSLAM: Dual quadrics as SLAM landmarks**](http://openaccess.thecvf.com/content_cvpr_2018_workshops/papers/w9/Nicholson_QuadricSLAM_Dual_Quadrics_CVPR_2018_paper.pdf)[C]//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops. **2018**: 313-314.

    + 📜 **Semantic SLAM 项目主页**：http://www.semanticslam.ai/

    + 📜 **IROS 2017**：[**Meaningful maps with object-oriented semantic mapping**](https://arxiv.org/pdf/1609.07849)

+ 👦 **Michael Milford**：谷歌学术 https://scholar.google.com/citations?user=TDSmCKgAAAAJ&hl=zh-CN&oi=ao

    + 📜 **ICRA 2012**：[**SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights**](http://www.cim.mcgill.ca/~dudek/417/Resources/seqslam-milford.pdf) （代码：https://michaelmilford.com/seqslam/）

    + 📜 Ball D, Heath S, Wiles J, et al. [**OpenRatSLAM: an open source brain-based SLAM system**](https://static.springer.com/sgw/documents/1388513/application/pdf/10-3.pdf)[J]. Autonomous Robots, **2013**, 34(3): 149-176.（代码：https://openslam-org.github.io/openratslam.html ）

    + 📜 Yu F, Shang J, Hu Y, et al. [**NeuroSLAM: a brain-inspired SLAM system for 3D environments**](https://link.springer.com/article/10.1007/s00422-019-00806-9)[J]. Biological Cybernetics, **2019**, 113(5-6): 515-545. （**代码**：https://github.com/cognav/NeuroSLAM ）

#### 28. 澳大利亚机器人视觉中心

+ **研究方向**：机器人感知、理解与学习 （集合了昆士兰科技大学，澳大利亚国立大学，阿德莱德大学，昆士兰大学等学校机器人领域的研究者）

+ **实验室主页**：https://www.roboticvision.org/

+ **人物**：https://www.roboticvision.org/rv_person_category/researchers/

+ **发表论文汇总**：https://www.roboticvision.org/publications/scientific-publications/

+ 👦 **Yasir Latif**：[个人主页](http://ylatif.github.io/)，[谷歌学术](https://scholar.google.com/citations?user=pGsO6EkAAAAJ&hl=zh-CN)

    + 📜 Latif Y, Cadena C, Neira J. [**Robust loop closing over time for pose graph SLAM**](http://webdiis.unizar.es/~ylatif/papers/IJRR.pdf)[J]. The International Journal of Robotics Research, **2013**, 32(14): 1611-1626.

    + 📜 Latif Y, Cadena C, Neira J. [**Robust loop closing over time**](https://pdfs.semanticscholar.org/62fb/619f7fc036c4dfb4c55a7c53907a112fe001.pdf)[C]//Proc. Robotics: Science Systems. **2013**: 233-240.（代码：https://github.com/ylatif/rrr ）

+ 👦 **Ian D Reid**：谷歌学术：https://scholar.google.com/citations?user=ATkNLcQAAAAJ&hl=zh-CN&oi=sra

    + 📜 **ICRA 2019**：[**Real-time monocular object-model aware sparse SLAM**](https://arxiv.org/pdf/1809.09149)

    + 📜 Reid I. [**Towards semantic visual SLAM**](https://ieeexplore.ieee.org/abstract/document/7064267/)[C]//2014 13th International Conference on Control Automation Robotics & Vision (ICARCV). IEEE, **2014**: 1-1.

    

#### 29. 日本国立先进工业科学技术研究所

+ **人工智能研究中心**：https://www.airc.aist.go.jp/en/intro/

+ 👦 **Ken Sakurada**：[个人主页](https://kensakurada.github.io/)，[谷歌学术](https://scholar.google.co