This memo is organized for personal use.
| Title | Paper | Method | Input | SLAM or VO | Localization | Loop close | Year | Source Code |
|---|---|---|---|---|---|---|---|---|
| PTAM | Paper | feature | mono | SLAM | yes | 2007 | github | |
| LSD-SLAM | Paper | direct | mono, stereo | SLAM | yes | 2013 | github | |
| SVO | Paper | direct | mono | VO | 2014 | github | ||
| SVO 2.0 | Paper | direct | mono, stereo, fisheye | VO | 2016 | github | ||
| PL-SVO | Paper | feature(point, line), direct(SVO) | mono | VO | 2016 | github | ||
| ORB-SLAM | Paper | feature | mono | SLAM | yes | yes | 2015 | github |
| ORB-SLAM2 | Paper | feature | mono, stereo, rgb-d | SLAM | yes | yes | 2017 | github |
| ORB-SLAM3 | Paper | feature | mono, mono-imu, stereo, stereo-imu, rgb-d, rgb-d-imu, fisheye | SLAM | yes | yes | 2020 | github |
| DSO | Paper | direct | mono | VO | 2017 | github | ||
| Stereo DSO | Paper | direct | stereo | VO | 2017 | |||
| Omnidirectional DSO | Paper | direct | fisheye | VO | 2018 | github | ||
| LDSO | Paper | direct | mono | VO | yes | 2018 | github | |
| VI-DSO | Paper | direct | mono-imu | VO | 2018 | |||
| VINS-fusion | Paper | shi tomasi + KLT | stereo, mono-imu, stereo-imu, fisheye | VO | yes | yes | 2018 | github |
| MSCKF | ||||||||
| OKVIS | ||||||||
| ROVIO | ||||||||
| BASALT | ||||||||
| Kimera | Paper | shi tomasi + KLT | stereo-imu | VO | yes | 2020 | github | |
| UcoSLAM | Paper | feature, marker | mono, stereo, rgb-d | SLAM | yes | yes | 2019 | website |
| TagSLAM | Paper | marker | SLAM | yes | yes | 2019 | github | |
| ORB-YGZ-SLAM | feature(ORB-SLAM), direct(SVO) | mono, mono-imu | SLAM | yes | github | |||
| YGZ-Stereo-IMU SLAM | feature(ORB-SLAM), direct(SVO) | stereo, stereo-imu | SLAM | yes | github | |||
| LCSD-SLAM | Paper | feature(ORB-SLAM), direct(DSO) | mono | SLAM | yes | 2018 | github | |
| DXSLAM | paper | feature(ORB-SLAM, SuperPoint, NetVlad) | SLAM | 2020 | github | |||
| PL-SLAM(stereo) | paper | feature(point, line) | stereo | SLAM | yes | 2019 | github | |
| PL-SLAM(mono) | paper | feature(point, line + ORB-SLAM) | mono | SLAM | 2017 | not official | ||
| ORB-Line-SLAM | paper | feature(line + ORB-SLAM) | SLAM | 2018 | github | |||
| Structure-SLAM | paper | feature(point, line + ORB-SLAM) | mono | SLAM | yes | 2020 | github | |
| Pop-up SLAM | ||||||||
| CubeSLAM | ||||||||
| Object-Plane SLAM | ||||||||
| CNN-SLAM | ||||||||
| CNN-SVO | ||||||||
| DynaSLAM | feature(ORB-SLAM) + MaskRCNN | mono, stereo, rgb-d | SLAM | yes | yes | 2018 | github | |
| DynaSLAM2 | SLAM | 2020 | ||||||
| Co-Fusion | paper | rgb-d | SLAM | 2017 | github | |||
| Maskfusion | paper | object-aware, semantic(MaskRCNN), dynamic RGB-D SLAM | rgb-d | SLAM | 2018 | github |
To do...
- input: stereo, rgb-d, inertial, fishehe camera
- feature(point, line, ...), direct, semi-direct, ...
- deep learning based ...
- dynamic environments ...
| Title | Paper | Year | datasets |
|---|---|---|---|
| EuRoC MAV Dataset | 2016 | datasets | |
| TUM-Mono | 2016 | datasets | |
| TUM-RGBD | 2012 | datasets | |
| TUM-Visual-Inertial | 2018 | datasets | |
| KITTI | 2013 | datasets | |
| ICL-NUIM | 2014 | datasets |