当前开源SLAM方案一览


这篇文章记录下目前流行的开源SLAM系统的方案。

最近课题进展不顺利,目标不明确、思路不清晰、没有创新点,迷茫、不知所措。还是暂时停一下,花时间查阅一些资料,充实一下自己。

时间 开源方案 传感器形式 VO 稀疏\稠密 论文 地址链接
2007 MonoSLAM 单目 [1] Github
2007 PTAM 单目 [2] Source Code
2015 ORB-SLAM 单目为主 特征点法 稀疏 [3] 链接 Github
2017 ORB-SLAM2 单目、双目、RGB-D 特征点法 稀疏 [4] Github
2014 LSD-SLAM 单目(为主)、双目 直接法 半稠密 [5] home Github
2014 SVO 单目 半直接法 [6] Github
2014 RTAB-MAP RGB-D/双目 [7] Github
2015 OKVIS 多目+IMU [8] Github
2015 ROVIO 单目+IMU [9] Github
2011 DTAM RGB-D 直接法 稠密 [10] Github
2013 DVO RGB-D [11] Github
2016 DSO 单目 [12] Github
2014 RGBD-SLAM2 RGB-D [13] Github
2015 Elastic Fusion RGB-D 稠密 [14] Github
2011 Hector SLAM 激光 [15] wiki
2007 GMapping 激光 [16] wiki
2015 OKVIS 多目+IMU [17] Github
2015 ROVIO 单目+IMU [18] Github Paper
2011 Kinetic Fusion RGB-D 稠密 [19]
Kintinuous [20]
DynamicFusion 稠密 [21]
InfiniTAM 稠密 [22]

论文

[2] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C]//Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality. IEEE Computer Society, 2007: 1-10. [pdf] [slides]

[3]

[5] LSD-SLAM: Large-Scale Direct Monocular SLAM (J. Engel, T. Schöps, D. Cremers), In European Conference on Computer Vision (ECCV), 2014. [bib] [pdf] [video]

[10] R. A. Newcombe, S. Lovegrove, and A. J. Davison. Dtam: Dense tracking and mapping in real-time. In IEEE International Conference on Computer Vision (ICCV), pages 2320–2327, 2011. 1, 2, 3

[11]

  • Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
  • Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013
  • Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.

[12] Fast Semi-Direct Monocular Visual Odometry (ICRA 2014)

[13] “3D Mapping with an RGB-D Camera”, F. Endres, J. Hess, J. Sturm, D. Cremers, W. Burgard, IEEE Transactions on Robotics, 2014.

[14]

  • ElasticFusion: Real-Time Dense SLAM and Light Source Estimation, T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison and S. Leutenegger, IJRR ‘16
  • ElasticFusion: Dense SLAM Without A Pose Graph, T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison, RSS ‘15

[15] A Flexible and Scalable SLAM System with Full 3D Motion Estimation

[16] Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters

[17] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[20]

[23]

  • Reconstructing Street-Scenes in Real-Time From a Driving Car (V. Usenko, J. Engel, J. Stueckler, D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015. bib [pdf]
  • Large-Scale Direct SLAM for Omnidirectional Cameras (D. Caruso, J. Engel, D. Cremers),In International Conference on Intelligent Robots and Systems (IROS), 2015. [bib] [pdf] [video]
  • Large-Scale Direct SLAM with Stereo Cameras (J. Engel, J. Stueckler, D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2015. [bib] [pdf] [video]
  • Semi-Dense Visual Odometry for AR on a Smartphone (T. Schöps, J. Engel, D. Cremers), In International Symposium on Mixed and Augmented Reality, 2014. [bib] [pdf] [video]
  • Semi-Dense Visual Odometry for a Monocular Camera (J. Engel, J. Sturm, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2013. [bib] [pdf] [video]

参考资料

  1. 当前的开源SLAM方案
  2. 【干货】15种SLAM方案详解
  3. SLAM 综述

本文标题:当前开源SLAM方案一览

文章作者:阿翔

发布时间:2018年09月26日 - 15:09

最后更新:2019年05月28日 - 21:05

原始链接:http://ttshun.com/2018/09/26/当前开源SLAM方案一览/

许可协议: 署名-非商业性使用-禁止演绎 4.0 国际 转载请保留原文链接及作者。

点击给我一些鼓励叭!
-------------本文结束感谢您的阅读-------------
0%