The list of vision-based SLAM / Visual Odometry open source projects, libraries, dataset, tools

Index

• Libraries
• Dataset
• Tools
• Projects
• Learn
• Miscellaneous

Libraries

Basic vision and trasformation libraries

• OpenCV
• Eigen
• Sophus
• ROS
• PointCloud

Thread-safe queue libraries

• concurrentqueue
• Intel® TBB
• Facebook folly PC

Loop detection

• dorian3d

Graph Optimization

• ceres-solver
• g2o
• gtasm
• Vertigo

Map library

• ETHZ ASL/Grip Map
• OmniMapper
• OctoMap

Dataset

Dataset for benchmark/test/experiment/evalutation

• TUM Universtiy
• KTTI Vision benchmark
• UNI-Freiburg

Tools

• rgbd-dataset tool from TUM
• evo - evaluation tool for different trajectory formats

Projects

RGB (Monocular):

• PTAM

[1] Georg Klein and David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", Proc. ISMAR 2007 [2] Georg Klein and David Murray, "Improving the Agility of Keyframe-based SLAM", Proc. ECCV 2008

• DSO. Available on ROS

Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016 A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016

• LSD-SLAM. Available on ROS

LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14 Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13

• ORB-SLAM. Available on ROS

[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF. [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF.

• Nister's Five Point Algorithm for Essential Matrix estimation, and FAST features, with a KLT tracker

D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.

• SVO-SLAM. Available on ROS

Christian Forster, Matia Pizzoli, Davide Scaramuzza, "SVO: Fast Semi-direct Monocular Visual Odometry," IEEE International Conference on Robotics and Automation, 2014.

RGB and Depth (Called RGBD):

• OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)

Real-Time Visual Odometry from Dense RGB-D Images, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011

• Dense Visual SLAM for RGB-D Cameras. Available on ROS

[1]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. [2]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 [3]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.

• RTAB MAP - Real-Time Appearance-Based Mapping. Available on ROS

Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM, 2014 Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation, 2013

• ORB2-SLAM. Available on ROS

[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012.

• InfiniTAM∞ v2

Kahler, O. and Prisacariu, V.~A. and Ren, C.~Y. and Sun, X. and Torr, P.~H.~S and Murray, D.~W. Very High Frame Rate Volumetric Integration of Depth Images on Mobile Device. IEEE Transactions on Visualization and Computer Graphics (Proceedings International Symposium on Mixed and Augmented Reality 2015

• Kintinuous

Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion, T. Whelan, M. Kaess, H. Johannsson, M.F. Fallon, J. J. Leonard and J.B. McDonald, IJRR '14

• ElasticFusion

[1] 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 [2] ElasticFusion: Dense SLAM Without A Pose Graph, T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison, RSS '15

• Co-Fusion

Martin Rünz and Lourdes Agapito. Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects. 2017 IEEE International Conference on Robotics and Automation (ICRA)

RGBD and LIDAR:

• Google's cartographer. Available on ROS

Learn

Article & blogs

• Introduction to Epipolar Geometry and the Fundamental Matrix
• Short introduction to descriptors
• Tutorial on binary descriptors
• Latch descriptor
• Robot Mapping - UniFreiburg
• Short introduction to signed distance function 1
• Short introduction to signed distance function 2

Online tutorial videos

• Slambook in Chinese

Online free courses

• Introduction to Mobile Robotics - UniFreiburg
• Multiple View Geometry (Prof. D. Cremers) - TUM
• Robot Percetion

Books

• A tutorial on SE(3) transformation parameterizations and on-manifold optimization By JL Blanco, 2014
• State Estimation for Robotic -- A Matrix Lie Group Approach by Timothy D. Barfoot, 2016
• Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods by Juan-Antonio Fernández-Madrigal and José Luis Blanco Claraco, 2012
• Probabilistic Robotics by Dieter Fox, Sebastian Thrun, and Wolfram Burgard, 2005
• An Invitation to 3-D Vision -- from Images to Geometric Models by Yi Ma, Stefano Soatto, Jana Kosecka and Shankar S. Sastry, 2005
• Multiple View Geometry in Computer Vision by Richard Hartley and Andrew Zisserman, 2004
• Numerical Optimization by Jorge Nocedal and Stephen J. Wright, 1999
• Real Time Monocular 3D Reconstruction by Fco. Javier Delgado del Hoyo, 2015

Papers

• CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction (2017)
• Online Photometric Calibration for Auto Exposure Video for Realtime Visual Odometry and SLAM (2017)
• Visual-Inertial Direct SLAM (2016)
• Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age (2016)
• Direct Sparse Odometry (2016)
• Modelling Uncertainty in Deep Learning for Camera Relocalization (2016)

• Convolutional Neural Network-Based Image Representation for Visual Loop Closure Detection (2015)
• Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions (2015)
• Lucas-Kanade 20 Years On: A Unifying Framework (2004)