【学习】视觉SLAM资源集锦

摘要

转自：爱可可-爱生活

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

• Libraries

• Dataset

• Tools

• Projects

• Learn

• Miscellaneous

Libraries Basic vision and trasformation libraries

• OpenCV

• Eigen

• Eigen 是一个线性算术的C++模板库。功能强大、快速、优雅以及支持多平台，可以使用该库来方便处理一些矩阵的操作，达到类似matlab那样的快捷。 需要定义 EIGEN_NO_DEBUG 阻止运行时assertion。编译单线程版本需要开启 -DEIGEN_DONT_PARALLELIZE. 在试验中，我们采用 EIGEN 原生 BLAS 实现。
  

• Sophus

• This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications). Among others, this package includes the special orthogonal groups SO(2) and SO(3) to present rotations in 2d and 3d as well as the special Euclidean group SE(2) and SE(3) to represent rigid body transformations (i.e. rotations and translations) in 2d and 3d.
  

• ROS

• PointCloud

• The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
  

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-datasest tool from TUM

Projects RGB (Monocular):

• DSO. Available on ROS

Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016A 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 '14Semi-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, 2014Appearance-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.

RGBD and LIDAR:

• Google's cartographer. Available on ROS

链接：

https://github.com/tzutalin/awesome-visual-slam

原文链接：

http://weibo.com/1402400261/F3w7K2Vkl?from=page_1005051402400261_profile&wvr=6&mod=weibotime&type=comment#_rnd1495020017213