SLAM 开源代码
2015年8月23日
以下是一些常用的优秀内容整理，包含数据集、开源代码、公开课等。如果大家有好的资源也欢迎在评论里分享：）
1 视觉 SLAM/VIO
| 名称 | 标签 | 简介 | 论文 | 地址 |
|---|---|---|---|---|
| SVO 2.0 | VIO | Semi-direct Visual Odometry (SVO) developed at RPG | PDF Page | https://github.com/uzh-rpg/rpg_svo_pro_open |
| OpenVINS | VIO | 基于 MSCKF 实现的一整套 VIO 库 | PDF Video | https://github.com/rpng/open_vins |
| ORB SLAM3 | VIO | 基于特征点法 ORB SLAM，包含单目、双目VIO、多地图等实现 | https://github.com/UZ-SLAMLab/ORB_SLAM3 | |
| Basalt | VIO | Basalt: Visual-Inertial Mapping with Non-Linear Factor Recovery | https://gitlab.com/VladyslavUsenko/basalt | |
| ROVIO | VIO | ROVIO (Robust Visual Inertial Odometry) 使用IEKF将视觉信息和IMU信息进行紧耦合的VIO系统 | PDF Video | https://github.com/ethz-asl/rovio |
| VINS Fusion | VIO | 基于 VINS，支持双目、GPS 等的 VIO 系统 | https://github.com/HKUST-Aerial-Robotics/VINS-Fusion | |
| OKVIS | VIO | 基于 OKVIS 的开源实现 | https://github.com/ethz-asl/okvis | |
| VI-DSO | VIO | DSO 与 IMU 结合的开源 VIO 系统 | PDF Page Video | https://github.com/RonaldSun/VI-Stereo-DSO |
| ICEBA | VIO | 利用 SLAM 增量特性加速 VIO 的系统 | https://github.com/baidu/ICE-BA |
2 激光 SLAM
| 名称 | 标签 | 简介 | 论文 | 地址 |
|---|---|---|---|---|
| LOAM | Odometry | 比较早期的 LOAM 实现，基于 Velodyne-16P 激光 | https://github.com/laboshinl/loam_velodyne https://github.com/cuitaixiang/LOAM_NOTED （中文注解版） |
|
| A-LOAM | Odometry | 港科大实现的一套基于 ceres 自动求导的 LOAM。相比原版有一些简化但是可读性高适合学习 | https://github.com/HKUST-Aerial-Robotics/A-LOAM | |
| FLOAM | Odometry | An optimized version of A-LOAM and LOAM with the computational cost reduced by up to 3 times. 比 A-LOAM 速度更快的实现 | https://github.com/wh200720041/floam | |
| LOAM Livox | Odometry | 使用 Livox 激光雷达的 LOAM 系统 | https://github.com/hku-mars/loam_livox https://github.com/Livox-SDK/livox_mapping |
|
| BALM | Mapping | BALM is a basic and simple system to use bundle adjustment (BA) in lidar mapping. | https://github.com/hku-mars/BALM | |
| LeGO-LOAM | Odometry | LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain | https://github.com/RobustFieldAutonomyLab/LeGO-LOAM https://github.com/facontidavide/LeGO-LOAM-BOR (工程优化版) |
|
| M-LOAM | Odometry | M-LOAM (Multi-LiDAR Odometry and Mapping) Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration | https://github.com/gogojjh/M-LOAM | |
| LINS | LIO | Tightly-coupled lidar-inertial odometry and mapping system for ROS compatible UGVs. | https://github.com/ChaoqinRobotics/LINS---LiDAR-inertial-SLAM | |
| LIO-Mapping | LIO | Tightly Coupled 3D Lidar Inertial Odometry and Mapping 比 LIO-SAM 更早的工作 | https://github.com/hyye/lio-mapping | |
| LIO-SAM | LIO | LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping | https://github.com/TixiaoShan/LIO-SAM | |
| FAST_LIO2 | LIO | FAST-LIO (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. | FAST_LIO2 FAST_LIO | https://github.com/hku-mars/FAST_LIO https://github.com/gisbi-kim/FAST_LIO_SLAM (加闭环) |
| LLS-LOAM | Odometry | Lidar Odometry and Mapping with Mutiple Metrics Linear Least Square ICP | https://github.com/YuePanEdward/LLS-LOAM | |
| MULLS | Odometry | MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square | https://github.com/YuePanEdward/MULLS | |
| Scan Context | Loop Closure | Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map | https://github.com/irapkaist/scancontext | |
| Intensity Scan Context | Loop Closure | Intensity Scan Context based Full SLAM Implementation (ISC-LOAM) 在 Scan Context 基础上加入 Intensity 信息 | https://github.com/wh200720041/iscloam | |
| OverlapNet | Loop Closure | OverlapNet - Loop Closing for 3D LiDAR-based SLAM | https://github.com/PRBonn/OverlapNet | |
| LCDNet | Loop Closure | LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM | https://github.com/robot-learning-freiburg/LCDNet | |
| SSC | Loop Closure | SSC: Semantic Scan Context for Large-Scale Place Recognition | https://github.com/lilin-hitcrt/SSC |
3 视觉-激光 SLAM
| 名称 | 标签 | 简介 | 论文 | 地址 |
|---|---|---|---|---|
| LVI-SAM | LVIO | LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping 紧耦合的视觉-激光-IMU 里程计系统，基于 Velodyne 激光雷达 | https://github.com/TixiaoShan/LVI-SAM | |
| R2LIVE | LVIO | A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping 紧耦合的视觉-激光-IMU 里程计系统，基于 Livox 激光雷达 | https://github.com/hku-mars/r2live | |
| LIMO | LVIO | Lidar-Monocular Visual Odometry. | https://github.com/johannes-graeter/limo |