Overview

SLAM Frameworks Overview

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• SLAM Frameworks Overview
  • Filter-SLAM
    • EKF-SLAM
      • MonoSLAM
      • EKFmonocularSLAM
  • vSLAM
    • Feature-based Method
    • Semi-Direct Method
    • Direct Method
  • VI-SLAM/VIO
  • Laser SLAM

Filter-SLAM

EKF-SLAM

• The Extended Kalman Filter - SLAM

• EKF Slam Example

• EKF-SLAM-on-Manifold

• damarquezg/SLAMTB: EKF-SLAM TOOLBOX FOR MATLAB

MonoSLAM

• cggos/SceneLib2
• MonoSLAM open-source library

• an open-source C++ library for SLAM originally designed and implemented by Andrew Davison and colleagues at the University of Oxford

• MATLAB Implementation of MonoSLAM

• EKF based Monocular SLAM

• Mono-Slam Implementation in ROS

EKFmonocularSLAM

• EKFmonocularSLAM

• 1-Point RANSAC Inverse Depth EKF Monocular SLAM

vSLAM

• Monocular SLAM

• mono_vo

• FOVIS: a visual odometry library that estimates the 3D motion of a camera using a source of depth information for each pixel.

• Paper: Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera
• libfovis

• fovis_ros: mono_depth_odometer and stereo_odometer

• SOFT

Feature-based Method

• cggos/ptam_cg

• cggos/orbslam2_cg

• cggos/viso2_cg

• cggos/rgbdslam2_cg

• rubengooj/pl-slam: an algorithm to compute stereo visual SLAM by using both point and line segment features

• UcoSLAM is a library for SLAM using keypoints that able to operate with monocular cameras, stereo cameras, rgbd cameras

Semi-Direct Method

• cggos/svo_cg: a Semi-direct Monocular Visual Odometry pipeline
• HeYijia/svo_edgelet: A more robust SVO with edgelet feature

Direct Method

• DSO
• cggos/lsd_slam_cg

VI-SLAM/VIO

• cggos/okvis_cg

• cggos/vins_mono_cg

• cggos/vins_fusion_cg

• cggos/msckf_cg

• cggos/rovio_cg: Robust Visual Inertial Odometry

Laser SLAM

• rplidar_ros (branch slam)
• hector_slam
• openslam_gmapping
• slam_gmapping

Example Run:

• 通过 hector_slam 建图，运行 roslaunch rplidar_ros view_slam.launch，效果如下