SLAM相关最新最全算法总结（正在持续更新）

SLAM相关最新最全算法总结

Lidar SLAM & LIO(LiDAR Inertial Odometry)

Gmapping

• 发布时间：2005年
• 论文标题：Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling
• 开源地址：https://github.com/ros-perception/slam_gmapping
• 关键词：粒子滤波、2D LiDAR、ROS
• 点评：经典的粒子滤波SLAM算法，完全基于ROS，适合初学者上手

Cartographer

• 发布时间：2016
• 论文标题： Real-Time Loop Closure in 2D LIDAR SLAM
• 开源地址：https://github.com/cartographer-project/cartographer
• 关键词：子地图、图优化、回环
• 点评：Google 开源的第一个 ROS 系统支持的 2D 和 3D SLAM库，不知道养活了多少扫地机器人公司。。。

LOAM(https://github.com/laboshinl/loam_velodyne)

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ALOAM(https://github.com/HKUST-Aerial-Robotics/A-LOAM)

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LOAM-Livox(https://github.com/hku-mars/loam_livox)

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FLOAM(https://github.com/wh200720041/floam)

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LeGO-LOAM(https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)

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hdl_graph_slam
(https://github.com/koide3/hdl_graph_slam)

SC-LeGO-LOAM(https://github.com/irapkaist/SC-LeGO-LOAM)

LIO-SAM(https://github.com/TixiaoShan/LIO-SAM)

LILI-OM(https://github.com/KIT-ISAS/lili-om)

LINS(https://github.com/ChaoqinRobotics/LINS—LiDAR-inertial-SLAM)

FAST-LIO/FAST-LIO2(https://github.com/hku-mars/FAST_LIO)

Point-LIO(https://github.com/hku-mars/Point-LIO.git)

Visual SLAM & VIO((Visual Inertial Odometry)

SVO(https://github.com/uzh-rpg/rpg_svo)

SVO2.0(https://github.com/uzh-rpg/rpg_svo_pro_open)

DynaSLAM(https://github.com/BertaBescos/DynaSLAM)

ORB-SLAM(https://github.com/raulmur/ORB_SLAM)

ORB-SLAM2(https://github.com/raulmur/ORB_SLAM2)

ORB-SLAM3(https://github.com/UZ-SLAMLab/ORB_SLAM3)

OpenVINS(https://github.com/rpng/open_vins)

VDO-SLAM(https://github.com/halajun/VDO_SLAM)

DROID-SLAM(https://github.com/princeton-vl/DROID-SLAM)

OKVIS(https://github.com/ethz-asl/okvis)

Cube-SLAM(https://github.com/shichaoy/cube_slam)

QuadricSLAM(https://github.com/qcr/quadricslam)

VINS-mono(https://github.com/HKUST-Aerial-Robotics/VINS-Mono)

VINS-Fusion(https://github.com/HKUST-Aerial-Robotics/VINS-Fusion)

EVO(https://github.com/uzh-rpg/rpg_dvs_evo_open)

ElasticFusion(https://github.com/mp3guy/ElasticFusion)

Multi-sensor Information Fusion

R2LIVE(https://github.com/hku-mars/r2live)

R3LIVE/R3LIVE++(https://github.com/hku-mars/r3live)

FAST-LIVO(https://github.com/hku-mars/FAST-LIVO)

LVI-SAM(https://github.com/TixiaoShan/LVI-SAM)

GVINS(https://github.com/HKUST-Aerial-Robotics/GVINS)

IC-GVINS(https://github.com/i2Nav-WHU/IC-GVINS)

Collaborative Visual-Inertial SLAM

COVINS(https://github.com/VIS4ROB-lab/covins)

D2SLAM(https://github.com/HKUST-Aerial-Robotics/D2SLAM)

pose graph optimizer

ceres-solver(http://ceres-solver.org/)

g2o(https://github.com/RainerKuemmerle/g2o)

gtsam(https://gtsam.org/)

Loop closure

DBoW2(https://github.com/dorian3d/DBoW2)

NetVLAD(https://github.com/Relja/netvlad)

Scan-Context(https://github.com/irapkaist/scancontext)

LiDAR-Iris(https://github.com/BigMoWangying/LiDAR-Iris)

M2DP(https://github.com/LiHeUA/M2DP)

Intensity Scan Context(https://github.com/wh200720041/iscloam)

OverlapNet(https://github.com/PRBonn/OverlapNet)

Scan Matching

NDT, ICP, Generalized-ICP(GICP)

Feature Detection & Feature Matching

SuperPoint (https://github.com/rpautrat/SuperPoint)

LoFTR(https://github.com/zju3dv/LoFTR)

SuperGlue(https://github.com/magicleap/SuperGluePretrainedNetwork)

LightGlue(https://github.com/cvg/LightGlue)

Structure from motion

COLOMAP(https://github.com/colmap/colmap)

pixel-perfect-sfm(https://github.com/cvg/pixel-perfect-sfm)

3D Reconstruction

NeRF(https://github.com/bmild/nerf)

Tools

rpg_trajectory_evaluation(https://github.com/uzh-rpg/rpg_trajectory_evaluation)

evo(https://github.com/MichaelGrupp/evo)

ROS

rosbag2_bag_v2(https://github.com/ros2/rosbag2_bag_v2)