【学习】视觉SLAM资源集锦
2017-05-25 23:14
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摘要
转自:爱可可-爱生活
The list of vision-based SLAM / Visual Odometry open source projects, libraries, dataset, tools, and studies Index
Libraries
Dataset
Tools
Projects
Learn
Miscellaneous
Libraries Basic
vision and trasformation libraries
OpenCV
Eigen
Eigen 是一个线性算术的C++模板库。功能强大、快速、优雅以及支持多平台,可以使用该库来方便处理一些矩阵的操作,达到类似matlab那样的快捷。
需要定义 EIGEN_NO_DEBUG 阻止运行时assertion。编译单线程版本需要开启 -DEIGEN_DONT_PARALLELIZE. 在试验中,我们采用 EIGEN 原生 BLAS 实现。
Sophus
This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications). Among others, this package includes the special
orthogonal groups SO(2) and SO(3) to present rotations in 2d and 3d as well as the special Euclidean group SE(2) and SE(3) to represent rigid body transformations (i.e. rotations and translations) in 2d and 3d.
ROS
PointCloud
The Point Cloud Library (PCL)
is a standalone, large scale, open project for
2D/3D image and point cloud processing.
Thread-safe
queue libraries
concurrentqueue
Intel® TBB
Facebook folly PC
Loop
detection
dorian3d
Graph
Optimization
ceres-solver
g2o
gtasm
Vertigo
Map
library
ETHZ ASL/Grip Map
OmniMapper
OctoMap
Dataset
Dataset for benchmark/test/experiment/evalutation
TUM Universtiy
KTTI Vision benchmark
UNI-Freiburg
Tools
rgbd-datasest tool from TUM
Projects RGB
(Monocular):
DSO. Available on ROS
Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016
LSD-SLAM. Available on ROS
LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13
ORB-SLAM. Available on ROS
[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.[2] Dorian Gálvez-López
and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF.
Nister's Five Point Algorithm for Essential Matrix estimation, and FAST features, with a KLT tracker
D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.
SVO-SLAM. Available on ROS
Christian Forster, Matia Pizzoli, Davide Scaramuzza, "SVO: Fast Semi-direct Monocular Visual Odometry," IEEE International Conference on Robotics and Automation, 2014.
RGB
and Depth (Called RGBD):
OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)
Real-Time Visual Odometry from Dense RGB-D Images, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011
Dense Visual SLAM for RGB-D Cameras. Available on ROS
[1]Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.[2]Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the IEEE Int. Conf. on
Robotics and Automation (ICRA), 2013[3]Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.
RTAB MAP - Real-Time Appearance-Based Mapping. Available on ROS
Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM, 2014Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation, 2013
ORB2-SLAM. Available on ROS
[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award).[2] Dorian Gálvez-López
and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012.
RGBD
and LIDAR:
Google's cartographer. Available on ROS
链接:
https://github.com/tzutalin/awesome-visual-slam
原文链接:
http://weibo.com/1402400261/F3w7K2Vkl?from=page_1005051402400261_profile&wvr=6&mod=weibotime&type=comment#_rnd1495020017213
转自:爱可可-爱生活
The list of vision-based SLAM / Visual Odometry open source projects, libraries, dataset, tools, and studies Index
Libraries
Dataset
Tools
Projects
Learn
Miscellaneous
Libraries Basic
vision and trasformation libraries
OpenCV
Eigen
Eigen 是一个线性算术的C++模板库。功能强大、快速、优雅以及支持多平台,可以使用该库来方便处理一些矩阵的操作,达到类似matlab那样的快捷。
需要定义 EIGEN_NO_DEBUG 阻止运行时assertion。编译单线程版本需要开启 -DEIGEN_DONT_PARALLELIZE. 在试验中,我们采用 EIGEN 原生 BLAS 实现。
Sophus
This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications). Among others, this package includes the special
orthogonal groups SO(2) and SO(3) to present rotations in 2d and 3d as well as the special Euclidean group SE(2) and SE(3) to represent rigid body transformations (i.e. rotations and translations) in 2d and 3d.
ROS
PointCloud
The Point Cloud Library (PCL)
is a standalone, large scale, open project for
2D/3D image and point cloud processing.
Thread-safe
queue libraries
concurrentqueue
Intel® TBB
Facebook folly PC
Loop
detection
dorian3d
Graph
Optimization
ceres-solver
g2o
gtasm
Vertigo
Map
library
ETHZ ASL/Grip Map
OmniMapper
OctoMap
Dataset
Dataset for benchmark/test/experiment/evalutation
TUM Universtiy
KTTI Vision benchmark
UNI-Freiburg
Tools
rgbd-datasest tool from TUM
Projects RGB
(Monocular):
DSO. Available on ROS
Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016
LSD-SLAM. Available on ROS
LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13
ORB-SLAM. Available on ROS
[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.[2] Dorian Gálvez-López
and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF.
Nister's Five Point Algorithm for Essential Matrix estimation, and FAST features, with a KLT tracker
D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.
SVO-SLAM. Available on ROS
Christian Forster, Matia Pizzoli, Davide Scaramuzza, "SVO: Fast Semi-direct Monocular Visual Odometry," IEEE International Conference on Robotics and Automation, 2014.
RGB
and Depth (Called RGBD):
OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)
Real-Time Visual Odometry from Dense RGB-D Images, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011
Dense Visual SLAM for RGB-D Cameras. Available on ROS
[1]Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.[2]Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the IEEE Int. Conf. on
Robotics and Automation (ICRA), 2013[3]Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.
RTAB MAP - Real-Time Appearance-Based Mapping. Available on ROS
Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM, 2014Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation, 2013
ORB2-SLAM. Available on ROS
[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award).[2] Dorian Gálvez-López
and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012.
RGBD
and LIDAR:
Google's cartographer. Available on ROS
链接:
https://github.com/tzutalin/awesome-visual-slam
原文链接:
http://weibo.com/1402400261/F3w7K2Vkl?from=page_1005051402400261_profile&wvr=6&mod=weibotime&type=comment#_rnd1495020017213
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