└── README.md /README.md: -------------------------------------------------------------------------------- 1 | # Awesome SLAM [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome) 2 | 3 | Simultaneous Localization and Mapping, also known as SLAM, is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. 4 | 5 | ## News 6 | * For researchers, please read the recent review paper, [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://arxiv.org/abs/1606.05830), from Cesar Cadena, Luca Carlone et al. 7 | 8 | ## Table of Contents 9 | 10 | * **[Books](#books)** 11 | 12 | * **[Courses, Lectures and Workshops](#courses-lectures-and-workshops)** 13 | 14 | * **[Papers](#papers)** 15 | 16 | * **[Researchers](#researchers)** 17 | 18 | * **[Datasets](#datasets)** 19 | 20 | * **[Code](#Code)** 21 | 22 | * **[Miscellaneous](#miscellaneous)** 23 | 24 | * **[Contributing](#contributing)** 25 | 26 | 27 | ### Books 28 | - [State Estimation for Robotic -- A Matrix Lie Group Approach](http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf) by Timothy D. Barfoot, 2018 29 | - [Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods](http://www.igi-global.com/book/simultaneous-localization-mapping-mobile-robots/66380) by Juan-Antonio Fernández-Madrigal and José Luis Blanco Claraco, 2012 30 | - [Simultaneous Localization and Mapping: Exactly Sparse Information Filters ](http://www.worldscientific.com/worldscibooks/10.1142/8145/) by Zhan Wang, Shoudong Huang and Gamini Dissanayake, 2011 31 | - [Probabilistic Robotics](http://www.probabilistic-robotics.org/) by Dieter Fox, Sebastian Thrun, and Wolfram Burgard, 2005 32 | - [An Invitation to 3-D Vision -- from Images to Geometric Models](http://vision.ucla.edu/MASKS/) by Yi Ma, Stefano Soatto, Jana Kosecka and Shankar S. Sastry, 2005 33 | - [Multiple View Geometry in Computer Vision](http://www.robots.ox.ac.uk/~vgg/hzbook/) by Richard Hartley and Andrew Zisserman, 2004 34 | - [Numerical Optimization](http://home.agh.edu.pl/~pba/pdfdoc/Numerical_Optimization.pdf) by Jorge Nocedal and Stephen J. Wright, 1999 35 | 36 | 37 | 38 | ### Courses, Lectures and Workshops 39 | - [SLAM Tutorial@ICRA 2016](http://www.dis.uniroma1.it/~labrococo/tutorial_icra_2016/) 40 | - [Geometry and Beyond - Representations, Physics, and Scene Understanding for Robotics](http://rss16-representations.mit.edu/) at Robotics: Science and Systems (2016) 41 | - [Robotics - UPenn](https://www.coursera.org/specializations/robotics) on Coursera by Vijay Kumar (2016) 42 | - [Robot Mapping - UniFreiburg](http://ais.informatik.uni-freiburg.de/teaching/ws15/mapping/) by Gian Diego Tipaldi and Wolfram Burgard (2015-2016) 43 | - [Robot Mapping - UniBonn](http://www.ipb.uni-bonn.de/robot-mapping/) by Cyrill Stachniss (2016) 44 | - [Introduction to Mobile Robotics - UniFreiburg](http://ais.informatik.uni-freiburg.de/teaching/ss16/robotics/) by Wolfram Burgard, Michael Ruhnke and Bastian Steder (2015-2016) 45 | - [Computer Vision II: Multiple View Geometry - TUM](http://vision.in.tum.de/teaching/ss2016/mvg2016) by Daniel Cremers ( Spring 2016) 46 | - [Advanced Robotics - UCBerkeley](http://www.cs.berkeley.edu/~pabbeel/) by Pieter Abbeel (Fall 2015) 47 | - [Mapping, Localization, and Self-Driving Vehicles](https://www.youtube.com/watch?v=x5CZmlaMNCs) at CMU RI seminar by John Leonard (2015) 48 | - [The Problem of Mobile Sensors: Setting future goals and indicators of progress for SLAM](http://ylatif.github.io/movingsensors/) sponsored by Australian Centre for Robotics and Vision (2015) 49 | - [Robotics - UPenn](https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=Main.HomePage) by Philip Dames and Kostas Daniilidis (2014) 50 | - [Autonomous Navigation for Flying Robots](http://vision.in.tum.de/teaching/ss2014/autonavx) on EdX by Jurgen Sturm and Daniel Cremers (2014) 51 | - [Robust and Efficient Real-time Mapping for Autonomous Robots](https://www.youtube.com/watch?v=_W3Ua1Yg2fk) at CMU RI seminar by Michael Kaess (2014) 52 | - [KinectFusion - Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera](https://www.youtube.com/watch?v=bRgEdqDiOuQ) by David Kim (2012) 53 | - [SLAM Summer School](http://www.acfr.usyd.edu.au/education/summerschool.shtml) organized by Australian Centre for Field Robotics (2009) 54 | - [SLAM Summer School](http://www.robots.ox.ac.uk/~SSS06/Website/index.html) organized by University of Oxford and Imperial College London (2006) 55 | - [SLAM Summer School](http://www.cas.kth.se/SLAM/) organized by KTH Royal Institute of Technology (2002) 56 | 57 | 58 | ### Papers 59 | - [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://arxiv.org/abs/1606.05830) (2016) 60 | - [Direct Sparse Odometry](https://arxiv.org/abs/1607.02565) (2016) 61 | - [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://arxiv.org/abs/1509.05909) (2016) 62 | - [Large-Scale Cooperative 3D Visual-Inertial Mapping in a Manhattan World](http://mars.cs.umn.edu/papers/CM_line.pdf) (2016) 63 | - [Towards Lifelong Feature-Based Mapping in Semi-Static Environments](http://static.googleusercontent.com/media/research.google.com/en//pubs/archive/44821.pdf) (2016) 64 | - [Tree-Connectivity: Evaluating the Graphical Structure of SLAM](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7487264) (2016) 65 | - [Visual-Inertial Direct SLAM](webdiis.unizar.es/~jcivera/papers/concha_etal_icra16.pdf) (2016) 66 | - [A Unified Resource-Constrained Framework for Graph SLAM](people.csail.mit.edu/lpaull/publications/Paull_ICRA_2016.pdf) (2016) 67 | - [Multi-Level Mapping: Real-time Dense Monocular SLAM](https://groups.csail.mit.edu/rrg/papers/greene_icra16.pdf) (2016) 68 | - [Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions](http://arxiv.org/abs/1506.00746) (2015) 69 | - [A Solution to the Simultaneous Localization and Map Building (SLAM) Problem](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=938381&tag=1) 70 | - [Simulataneous Localization and Mapping with the Extended Kalman Filter](http://www.iri.upc.edu/people/jsola/JoanSola/objectes/curs_SLAM/SLAM2D/SLAM%20course.pdf) 71 | - [Robotic Mapping: A Survey](http://robots.stanford.edu/papers/thrun.mapping-tr.pdf) 72 | 73 | 74 | ### Researchers 75 | 76 | #### United States 77 | - [John Leonard](https://www.csail.mit.edu/user/817) 78 | - [Sebastian Thrun](http://robots.stanford.edu/) 79 | - [Frank Dellaert](http://borg.cc.gatech.edu/) 80 | - [Dieter Fox](homes.cs.washington.edu/~fox/) 81 | - [Stergios I. Roumeliotis](http://www-users.cs.umn.edu/~stergios/) 82 | - [Vijay Kumar](http://www.kumarrobotics.org/) 83 | - [Ryan Eustice](http://robots.engin.umich.edu/~ryan/) 84 | - [Michael Kaess](http://frc.ri.cmu.edu/~kaess/) 85 | - [Guoquan (Paul) Huang](http://udel.edu/~ghuang/) 86 | - [Gabe Sibley](https://arpg.colorado.edu/people/) 87 | - [Luca Carlone](http://www.lucacarlone.com/) 88 | - [Andrea Censi](censi.mit.edu/) 89 | 90 | 91 | #### Europe 92 | - [Paul Newman](http://mrg.robots.ox.ac.uk/) 93 | - [Roland Siegwart](http://www.asl.ethz.ch/the-lab/people/person-detail.html?persid=29981) 94 | - [Juan Nieto](http://www.nietojuan.com/) 95 | - [Wolfram Burgard](http://www2.informatik.uni-freiburg.de/~burgard/) 96 | - [Jose Neira](webdiis.unizar.es/~neira/) 97 | - [Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html) 98 | 99 | #### Australia 100 | - [Cesar Cadena](http://cs.adelaide.edu.au/~cesar/) 101 | - [Ian Reid](https://cs.adelaide.edu.au/~ianr/) 102 | - [Tim Bailey](http://www-personal.acfr.usyd.edu.au/tbailey/) 103 | - [Gamini Dissanayake](http://www.uts.edu.au/staff/gamini.dissanayake) 104 | - [Shoudong Huang](http://services.eng.uts.edu.au/~sdhuang/) 105 | 106 | 107 | ### Datasets 108 | 109 | 1. [Intel Research Lab (Seattle)](http://kaspar.informatik.uni-freiburg.de/~slamEvaluation/datasets/intel.clf) 110 | 111 | 112 | ### Code 113 | 114 | 1. [ORB-SLAM](https://github.com/raulmur/ORB_SLAM) 115 | 2. [LSD-SLAM](https://github.com/tum-vision/lsd_slam) 116 | 3. [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) 117 | 4. [DVO: Dense Visual Odometry](https://github.com/tum-vision/dvo_slam) 118 | 5. [SVO: Semi-Direct Monocular Visual Odometry](https://github.com/uzh-rpg/rpg_svo) 119 | 6. [G2O: General Graph Optimization](https://github.com/RainerKuemmerle/g2o) 120 | 7. [RGBD-SLAM](https://github.com/felixendres/rgbdslam_v2) 121 | 122 | 123 | ### Miscellaneous 124 | 125 | 126 | ----- 127 | ### Contributing 128 | Have anything in mind that you think is awesome and would fit in this list? Feel free to send a [pull request](https://github.com/kanster/awesome-slam/pulls). 129 | 130 | ----- 131 | ## License 132 | 133 | [![CC0](http://i.creativecommons.org/p/zero/1.0/88x31.png)](http://creativecommons.org/publicdomain/zero/1.0/) 134 | --------------------------------------------------------------------------------