Contents
- Introduction
- Books
- Tutorials and Basics
- Parameterization
- Batch Optimization
- Graph SLAM
- Batch vs filter
- Mapping
- Important SLAM Works
- Impressive Visual SLAM Works
- Loop Closing
- State of Art Works
- Visual Inertial SLAM
- Fusing Odometry And Other Sensor into V-SLAM
- Combining More Image Information
- Semantic SLAM and Learning for SLAM
- Slides
- Good blogs and discussions
Introduction
This is collection of literature on SLAM (mainly Visual SLAM). Keep updating.
Books
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Probabilistic Robotics by S Thrun, W Burgard, D Fox - 2005 - MIT press
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State Estimation for Robotics by TD Barfoot - 2017
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Multiple View Geometry in Computer Vision by A Harltey, A Zisserman - 2006 - Cambridge University Press
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视觉 SLAM 十四讲 by 高翔 etc - 2017 - 电子工业出版社
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Estimation with Applications to Tracking and Navigation by Y Bar-Shalom, XR Li, T Kirubarajan
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Optimal Estimation of Dynamic Systems, Second Edition by JL Crassidis, JL Junkins
Tutorials and Basics
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SLAM Tutorial 1 ↗
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SLAM Tutorial 2 ↗
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Visual Odometry 1 ↗
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Visual Odometry 2 ↗
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Bundle Adjustment ↗
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A tutorial on graph-based SLAM ↗
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Motion and structure from motion in a piecewise planar environment ↗
Parameterization
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Inverse Depth Parametrization for Monocular SLAM ↗
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Pose parameterization using Lie groups
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On-Manifold Preintegration for Real-Time Visual–Inertial Odometry ↗
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State Estimation for Robotics by TD Barfoot, Chapter 7.
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Pose estimation using linearized rotations and quaternion algebra ↗
Batch Optimization
Graph SLAM
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Olson 2006 ↗
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Square Root SAM 2006 ↗
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iSAM 2008 ↗
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Gresetti 2009 ↗
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iSAM2 2011 ↗
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Johannsson 2013 Temporally scalable visual SLAM using a reduced pose graph ↗
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Survey of Geodetic Method for SLAM ↗
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Generalized graph SLAM: Solving local and global ambiguities through multimodal and hyperedge constraints ↗
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COP-SLAM: Pose Chain Graph ↗
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Towards a robust back-end for pose graph SLAM ↗
Batch vs filter
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The iterated Kalman filter as a Gauss–Newton method ↗
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Why filter? ↗
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Introduction part in OKVIS paper ↗
Mapping
- Robot Mapping: A Survey ↗
Important SLAM Works
Impressive Visual SLAM Works
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EKF - Sparse Feature Based
- MonoSLAM ↗
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Keyframe Graph Optimization - Sparse Feature Based
- PTAM ↗
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Relocalization: ↗
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Keyframe Graph Optimization - Direct Dense Based
- DTAM ↗
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Direct Dense with Surface Construction
- KinectFusion ↗
Loop Closing
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Appearance Based: Ulrich 2000 ↗
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TREE-MAP: Frese 2006 Closing a Million-Landmarks Loop ↗
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Bags of Words Bases: Angeli 2008 ↗
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Appearance Based: FAB-MAP 2008 ↗
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Appearance Based: FAB-MAP 2.0 2010 ↗
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Vocabulary tree ↗
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Bag of Binary Words Based 2011 ↗
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Down-sampled Binarized Images Based: H. ZHANG 2014 ↗
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Gist
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Visual Place Recognition A Survey ↗
State of Art Works
Visual Inertial SLAM
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MSCKF
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Others from Mourikis and Li’s group:
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Keyframe-based visual–inertial odometry using nonlinear optimization ↗
- Source Code OKVIS
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ROVIO ↗
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Inertial ORB-SLAM ↗
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On-Manifold Preintegration for VIO ↗
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Asynchronous adaptive conditioning for visual–inertial SLAM ↗
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S. Jones IJRR 2010 ↗
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Kelly IJRR 2011 ↗
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A Hesch IJRR 2014 ↗
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A Hesch TRO 2014 ↗
Fusing Odometry And Other Sensor into V-SLAM
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Weighted Local BA ↗
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Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM ↗
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Bi-Objective Bundle Adjustment with Application to Multi-Sensor SLAM ↗
Combining More Image Information
Semantic SLAM and Learning for SLAM
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SLAM++ ↗
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Special Issues IJRR on RSS 2014 ↗
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Probabilistic Data Association for Semantic SLAM (Best Paper in ICRA-2017) ↗
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Learning for Localization and Mapping, workshop at IROS 2017 ↗