SLAM 学习

01/2007

OpenSLAM.org goes online.  News 03/2015 Raul Mur Artal contributed his ORB-SLAM code. 09/2014 Gijs Dubbelman and Brett Browning contributed their COP-SLAMcode. 08/2013 Liang Zhao, Shoudong Huang, Yanbiao Sun, and Gamini Dissanayake contributed their ParallaxBA code. 04/2013 Niko Suenderhauf contributed his OpenSeqSLAM code. 03/2013 Liang Zhao, Shoudong Huang, and Gamini Dissanayake contributed their LinearSLAM code. 03/2013 Michael Milford, Gordon Wyeth, David Ball, and Scott Heath contributed their OpenRatSLAM code. 12/2011 Jose Luis Blanco, Juan Antonio Fernandez Madrigal, and Javier Gonzalez Jimenez contributed their RO-SLAM - Bayesian range-only SLAM with SOGs code. 12/2012 Pratik Agarwal and Edwin Olson contributed their MaxMixture code. 10/2011 Niko Suenderhauf contributed his Vertigo code. 12/2011 Jerry Moravec contributed his ROBOMAP Studio code. 05/2011 Michael Ruhnke, Rainer Kuemmerle, Giorgio Grisetti, and Wolfram Burgard contributed their SSA2D code. 04/2011 Felix Endres, Juergen Hess, and Nikolas Engelhard contributed theirRGBDSlam code. 04/2011 Luciano Spinello contributed his People2D code. 03/2011 Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard contributed their G2O code. 03/2011 Christoph Hertzberg and Rene Wagner contributed their MTK code. 12/2010 We did an internal redesign of the scripts underlying OpenSLAM.org and will from now on better support SLAM-related tools (see the SLAM Tools sections). 10/2010 Michael Kaess, Hordur Johannsson, and John Leonard contributed their iSAM code. 06/2010 Javier Civera and Jose Maria Montiel contributed their EKFMonoSLAMMatlab code for EKF SLAM from a 6 DOF motion monocular image sequence. 06/2010 Diego Tipaldi and Kai Arras committed their FLIRTLib code for computing features from laser range data. 10/2009 Shoudong Huang Iterated Sparse Local Submap Joining Filter (I-SLSJF) code. 09/2009 Andreas Nuechter submitted his SLAM 6D code. 04/2009 Oussama El Hamzaoui submitted his CoreSLAM code. 02/2009 Udo Frese submitted his TreeMap code. 11/2008 Christoph Hertzberg and Udo Frese submitted their SLOM (Sparse Least Squares on Manifolds) code. 12/2007 Haiqiang Zhang submitted his CEKF-SLAM code. 06/2007 In the near future, the repositories will be accessable only via https (no http anymore). 05/2007 Added the new tree-based constraint network optimizer (TORO) of Giorgio Grisetti and Cyrill Stachniss. 02/2007 Patrick Beeson came up with the idea of a tool-page. This page is now setup. 01/2007 Added the Thin Junction Tree Filters for SLAM package of Mark A. Paskin 01/2007 Added the SLAM package of Tim Bailey including  EKF, UKF, and FastSLAM code 01/2007 Added the CAS Robot Navigation Toolbox by Kai Arras 01/2007 Added DP-SLAM by Austin Elizar and Ronald Parr 01/2007 Dirk Haehnel's submitted his grid based FastSLAM approach 01/2007 Added a simplified and updated version of GMapping 01/2007 OpenSLAM.org goes online. 1. Andrew Davison的课程： http://www.doc.ic.ac.uk/~ajd/Robotics/index.html     AD在在week 8里面推荐了slam的两个入门 Tutorial 1  和Tutorial 2 2. Tutorial的两篇文章文笔灰常秀丽，但是不操作还是云里雾里：    所以这里有一个瑞士苏黎世理工的学生练习    大家把excise 3：SLAM（EKF）做了，也就差不多了解些slam的原理了    关于练习3的答案，我过几天上传好, 答案 1. OpenSLAM：https://openslam.org/ 这个网站中含有很多slam方面的资料，编写的程序也各有不同，很权威 2. Kitti这个图库，大家可以下载做simulation：http://www.cvlibs.net/datasets/kitti/ 3. 个人感觉exercise 3练习后，可以选择 Javier Civera 的程序进行试手，感觉灰常不错。注意对calibration的调整     http://webdiis.unizar.es/~jcivera/code/1p-ransac-ekf-monoslam.html 4. 对于JC的1p RANSAC-monoSLAM有一定了解了，可以试试用SURF去实现     这里有个南理工哥们的论文还不错，可以参考 http://cdmd.cnki.com.cn/Article/CDMD-10288-1012319519.htm 1. Multiple View Geometry in Computer Vision Second Edition ，http://www.robots.ox.ac.uk/~vgg/hzbook/     计算机视觉方面大神级别的书，也有中文版，点此下载中英文双版 2. Robotics Vision and Control  ， pdf下载：http://robotics.itee.uq.edu.au/~metr4202/tpl/Robotics%20Vision%20&%20Control.pdf 通过MATLAB几乎把机器人学给贯穿了，里面每章节都有对应的Code，关于里面Matlab的codes，需要留言 澳大利亚昆士兰理工大学的Peter Corke是机器视觉领域的大牛人物，他所编写的Robotics, vision and control一书更是该领域的经典教材 配套有matlab工具箱。工具箱分为两部分，一部分为机器人方面的，另一部分为视觉方面的工具箱 源代码都是开放免费下载的： http://petercorke.com/Toolbox_software.html

 

News

03/2015	Raul Mur Artal contributed his ORB-SLAM code.
09/2014	Gijs Dubbelman and Brett Browning contributed their COP-SLAMcode.
08/2013	Liang Zhao, Shoudong Huang, Yanbiao Sun, and Gamini Dissanayake contributed their ParallaxBA code.
04/2013	Niko Suenderhauf contributed his OpenSeqSLAM code.
03/2013	Liang Zhao, Shoudong Huang, and Gamini Dissanayake contributed their LinearSLAM code.
03/2013	Michael Milford, Gordon Wyeth, David Ball, and Scott Heath contributed their OpenRatSLAM code.
12/2011	Jose Luis Blanco, Juan Antonio Fernandez Madrigal, and Javier Gonzalez Jimenez contributed their RO-SLAM - Bayesian range-only SLAM with SOGs code.
12/2012	Pratik Agarwal and Edwin Olson contributed their MaxMixture code.
10/2011	Niko Suenderhauf contributed his Vertigo code.
12/2011	Jerry Moravec contributed his ROBOMAP Studio code.
05/2011	Michael Ruhnke, Rainer Kuemmerle, Giorgio Grisetti, and Wolfram Burgard contributed their SSA2D code.
04/2011	Felix Endres, Juergen Hess, and Nikolas Engelhard contributed theirRGBDSlam code.
04/2011	Luciano Spinello contributed his People2D code.
03/2011	Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard contributed their G2O code.
03/2011	Christoph Hertzberg and Rene Wagner contributed their MTK code.
12/2010	We did an internal redesign of the scripts underlying OpenSLAM.org and will from now on better support SLAM-related tools (see the SLAM Tools sections).
10/2010	Michael Kaess, Hordur Johannsson, and John Leonard contributed their iSAM code.
06/2010	Javier Civera and Jose Maria Montiel contributed their EKFMonoSLAMMatlab code for EKF SLAM from a 6 DOF motion monocular image sequence.
06/2010	Diego Tipaldi and Kai Arras committed their FLIRTLib code for computing features from laser range data.
10/2009	Shoudong Huang Iterated Sparse Local Submap Joining Filter (I-SLSJF) code.
09/2009	Andreas Nuechter submitted his SLAM 6D code.
04/2009	Oussama El Hamzaoui submitted his CoreSLAM code.
02/2009	Udo Frese submitted his TreeMap code.
11/2008	Christoph Hertzberg and Udo Frese submitted their SLOM (Sparse Least Squares on Manifolds) code.
12/2007	Haiqiang Zhang submitted his CEKF-SLAM code.
06/2007	In the near future, the repositories will be accessable only via https (no http anymore).
05/2007	Added the new tree-based constraint network optimizer (TORO) of Giorgio Grisetti and Cyrill Stachniss.
02/2007	Patrick Beeson came up with the idea of a tool-page. This page is now setup.
01/2007	Added the Thin Junction Tree Filters for SLAM package of Mark A. Paskin
01/2007	Added the SLAM package of Tim Bailey including  EKF, UKF, and FastSLAM code
01/2007	Added the CAS Robot Navigation Toolbox by Kai Arras
01/2007	Added DP-SLAM by Austin Elizar and Ronald Parr
01/2007	Dirk Haehnel's submitted his grid based FastSLAM approach
01/2007	Added a simplified and updated version of GMapping
01/2007	OpenSLAM.org goes online.