开源SLAM汇总

Author： zyuzhi
发布时间：February 5, 2018
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Categories： SLAM

Project	Sensor	Date	Link	License	Video	Paper
MonoSLAM	单目		↗
PTAM	单目	2007	↗ ↗	GPLv3
ORB-SLAM	单目为主	2015	↗	GPLv3
LSD-SLAM	单目为主	2014	↗	GPLv3	↗	↗
SVO	单目/双目+IMU	2014	↗↗	GPLv3	↗	↗
VINS	单目+IMU	2017	↗↗	GPLv3	↗↗↗↗↗	↗↗
DTAM	RGB-D	2014	↗		↗
DVO	RGB-D	2013	↗
DSO	单目	2016	↗	GPLv3	↗
RTAB-MAP	双目/RGB-D	2013	↗
RGBD-SLAM-V2	RGB-D	2014	↗
Elastic Fusion	RGB-D	2015	↗
Hector SLAM	激光		↗
GMapping	激光		↗
OKVIS	多目+IMU	2015	↗
ROVIO	多目+IMU	2015	↗
COSLAM		2012	↗	GPLv2	↗	↗
DTSLAM		2014	↗	Modified BSD	↗
REBVO		2016	↗	GPLv3	↗
Swarm SLAM
RBPF-SLAM			↗
HMT-SLAM
EKF-SLAM
Graph-SLAM
ICP-SLAM
LOAM	激光	2014	↗↗

Reference

https://github.com/OpenSLAM/awesome-SLAM-list

Last modification：August 16, 2018

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开源SLAM汇总

zyuzhi • 2018 年 02 月 05 日

<table><thead><tr><th>Project</th><th>Sensor</th><th>Date</th><th>Link</th><th>License</th><th>Video</th><th>Paper</th></tr></thead><tbody><tr><td><a class="no-external-link" href="https://github.com/hanmekim/SceneLib2" target="_blank">MonoSLAM</a></td><td>单目</td><td> </td><td><a class="no-external-link" href="https://github.com/hanmekim/SceneLib2" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://www.robots.ox.ac.uk/~gk/PTAM" target="_blank">PTAM</a></td><td>单目</td><td>2007</td><td><a class="no-external-link" href="https://www.robots.ox.ac.uk/~gk/PTAM" target="_blank">↗</a> <a class="no-external-link" href="https://github.com/Oxford-PTAM/PTAM-GPL" target="_blank">↗</a></td><td>GPLv3</td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://webdiis.unizar.es/~raulmur/orbslam" target="_blank">ORB-SLAM</a></td><td>单目为主</td><td>2015</td><td><a class="no-external-link" href="http://webdiis.unizar.es/~raulmur/orbslam" target="_blank">↗</a></td><td>GPLv3</td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://vision.in.tum.de/research/vslam/lsdslam" target="_blank">LSD-SLAM</a></td><td>单目为主</td><td>2014</td><td><a class="no-external-link" href="http://vision.in.tum.de/research/vslam/lsdslam" target="_blank">↗</a></td><td>GPLv3</td><td><a class="no-external-link" href="https://www.youtube.com/watch?v=GnuQzP3gty4" target="_blank">↗</a></td><td><a class="no-external-link" href="http://videolectures.net/site/normal_dl/tag=921114/eccv2014_engel_monocular_slam_01.pdf" target="_blank">↗</a></td></tr><tr><td><a class="no-external-link" href="https://github.com/uzh-rpg/rpg_svo" target="_blank">SVO</a></td><td>单目/双目+IMU</td><td>2014</td><td><a class="no-external-link" href="https://github.com/uzh-rpg/rpg_svo" target="_blank">↗</a><a class="no-external-link" href="https://github.com/uzh-rpg/rpg_svo_example" target="_blank">↗</a></td><td>GPLv3</td><td><a class="no-external-link" href="http://youtu.be/2YnIMfw6bJY" target="_blank">↗</a></td><td><a class="no-external-link" href="http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf" target="_blank">↗</a></td></tr><tr><td><a class="no-external-link" href="https://github.com/HKUST-Aerial-Robotics/VINS-Mono" target="_blank">VINS</a></td><td>单目+IMU</td><td>2017</td><td><a class="no-external-link" href="https://github.com/HKUST-Aerial-Robotics/VINS-Mono" target="_blank">↗</a><a class="no-external-link" href="https://github.com/HKUST-Aerial-Robotics/VINS-Mobile" target="_blank">↗</a></td><td>GPLv3</td><td><a class="no-external-link" href="https://www.youtube.com/embed/mv_9snb_bKs" target="_blank">↗</a><a class="no-external-link" href="https://www.youtube.com/embed/g_wN0Nt0VAU" target="_blank">↗</a><a class="no-external-link" href="https://www.youtube.com/embed/I4txdvGhT6I" target="_blank">↗</a><a class="no-external-link" href="https://www.youtube.com/embed/2zE84HqT0es" target="_blank">↗</a><a class="no-external-link" href="https://www.youtube.com/embed/CI01qbPWlYY" target="_blank">↗</a></td><td><a class="no-external-link" href="https://arxiv.org/abs/1708.03852v1" target="_blank">↗</a><a class="no-external-link" href="https://doi.org/10.1002/rob.21732" target="_blank">↗</a></td></tr><tr><td><a class="no-external-link" href="https://github.com/anuranbaka/OpenDTAM" target="_blank">DTAM</a></td><td>RGB-D</td><td>2014</td><td><a class="no-external-link" href="https://github.com/anuranbaka/OpenDTAM" target="_blank">↗</a></td><td> </td><td><a class="no-external-link" href="https://youtu.be/Df9WhgibCQA" target="_blank">↗</a></td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/tum-vision/dvo_slam" target="_blank">DVO</a></td><td>RGB-D</td><td>2013</td><td><a class="no-external-link" href="https://github.com/tum-vision/dvo_slam" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/JakobEngel/dso" target="_blank">DSO</a></td><td>单目</td><td>2016</td><td><a class="no-external-link" href="https://github.com/JakobEngel/dso" target="_blank">↗</a></td><td>GPLv3</td><td><a class="no-external-link" href="https://youtu.be/C6-xwSOOdqQ" target="_blank">↗</a></td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/introlab/rtabmap" target="_blank">RTAB-MAP</a></td><td>双目/RGB-D</td><td>2013</td><td><a class="no-external-link" href="https://github.com/introlab/rtabmap" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/felixendres/rgbdslam_v2" target="_blank">RGBD-SLAM-V2</a></td><td>RGB-D</td><td>2014</td><td><a class="no-external-link" href="https://github.com/felixendres/rgbdslam_v2" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/mp3guy/ElasticFusion" target="_blank">Elastic Fusion</a></td><td>RGB-D</td><td>2015</td><td><a class="no-external-link" href="https://github.com/mp3guy/ElasticFusion" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://wiki.ros.org/hector_slam" target="_blank">Hector SLAM</a></td><td>激光</td><td> </td><td><a class="no-external-link" href="https://wiki.ros.org/hector_slam" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://wiki.ros.org/gmapping" target="_blank">GMapping</a></td><td>激光</td><td> </td><td><a class="no-external-link" href="https://wiki.ros.org/gmapping" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/ethz-asl/okvis" target="_blank">OKVIS</a></td><td>多目+IMU</td><td>2015</td><td><a class="no-external-link" href="https://github.com/ethz-asl/okvis" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/ethz-asl/rovio" target="_blank">ROVIO</a></td><td>多目+IMU</td><td>2015</td><td><a class="no-external-link" href="https://github.com/ethz-asl/rovio" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://drone.sjtu.edu.cn/dpzou/project/coslam.php" target="_blank">COSLAM</a></td><td> </td><td>2012</td><td><a class="no-external-link" href="https://github.com/danping/CoSLAM" target="_blank">↗</a></td><td>GPLv2</td><td><a class="no-external-link" href="https://www.youtube.com/watch?v=wYn_xWe2UcM" target="_blank">↗</a></td><td><a class="no-external-link" href="http://www.cs.sfu.ca/~pingtan/Papers/pami12_slam.pdf" target="_blank">↗</a></td></tr><tr><td><a class="no-external-link" href="https://github.com/plumonito/dtslam" target="_blank">DTSLAM</a></td><td> </td><td>2014</td><td><a class="no-external-link" href="https://github.com/plumonito/dtslam" target="_blank">↗</a></td><td>Modified BSD</td><td><a class="no-external-link" href="https://youtu.be/KPNwVNQP7jM" target="_blank">↗</a></td><td> </td></tr><tr><td><a class="no-external-link" href="https://github.com/JuanTarrio/rebvo" target="_blank">REBVO</a></td><td> </td><td>2016</td><td><a class="no-external-link" href="https://github.com/JuanTarrio/rebvo" target="_blank">↗</a></td><td>GPLv3</td><td><a class="no-external-link" href="https://youtu.be/7pn29iGklgI" target="_blank">↗</a></td><td> </td></tr><tr><td>Swarm SLAM</td><td> </td><td> </td><td> </td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://www.mrpt.org/tutorials/slam-algorithms/rbpf-slam_algorithms/" target="_blank">RBPF-SLAM</a></td><td> </td><td> </td><td><a class="no-external-link" href="http://www.mrpt.org/tutorials/slam-algorithms/rbpf-slam_algorithms/" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr><tr><td>HMT-SLAM</td><td> </td><td> </td><td> </td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://www.mrpt.org/tutorials/supported_hardware_and_sensors/" target="_blank">EKF-SLAM</a></td><td> </td><td> </td><td> </td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://www.mrpt.org/Graph-SLAM_maps" target="_blank">Graph-SLAM</a></td><td> </td><td> </td><td> </td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://www.mrpt.org/tutorials/supported_hardware_and_sensors/" target="_blank">ICP-SLAM</a></td><td> </td><td> </td><td> </td><td> </td><td> </td><td> </td></tr><tr><td><a class="no-external-link" href="http://wiki.ros.org/loam_velodyne" target="_blank">LOAM</a></td><td>激光</td><td>2014</td><td><a class="no-external-link" href="https://github.com/zyuzhi/loam_velodyne" target="_blank">↗</a><a class="no-external-link" href="https://github.com/zyuzhi/loam_velodyne-1" target="_blank">↗</a></td><td> </td><td> </td><td> </td></tr></tbody></table><h2>Reference</h2><ol><li><a class="no-external-link" href="https://github.com/OpenSLAM/awesome-SLAM-list" target="_blank">https://github.com/OpenSLAM/awesome-SLAM-list</a></li></ol>

开源SLAM汇总

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开源SLAM汇总

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开源SLAM汇总

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