Simultaneous Localization and Mapping

This page contains resources about SLAM (Simultaneous Localization and Mapping).

Video Lectures

 * Robot Mapping by Cyrill Stachniss

Scholarly Articles

 * Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015). ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Transactions on Robotics, 31(5), 1147-1163.
 * Engel, J., Schops, T., & Cremers, D. (2014). LSD-SLAM: Large-scale direct monocular SLAM. In European Conference on Computer Vision (pp. 834-849).
 * Sturm, J., Engelhard, N., Endres, F., Burgard, W., & Cremers, D. (2012). A benchmark for the evaluation of RGB-D SLAM systems. In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 573-580).
 * Endres, F., Hess, J., Engelhard, N., Sturm, J., Cremers, D., & Burgard, W. (2012). An evaluation of the RGB-D SLAM system. In IEEE International Conference on Robotics and Automation (pp. 1691-1696).
 * Newcombe, R. A., Izadi, S., Hilliges, O., Molyneaux, D., Kim, D., Davison, A. J., ... & Fitzgibbon, A. (2011). KinectFusion: Real-time dense surface mapping and tracking. In 10th IEEE international symposium on Mixed and augmented reality (pp. 127-136).
 * Izadi, S., Kim, D., Hilliges, O., Molyneaux, D., Newcombe, R., Kohli, P., ... & Fitzgibbon, A. (2011). KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera. In Proceedings of the 24th annual ACM symposium on User interface software and technology (pp. 559-568).

Other Resources

 * Kinfu - an open-source implementation of Kinect Fusion
 * KinFu at OpenCV - KinectFusion implementation
 * KinectFusionLib (GitHub) - code
 * tsdf-fusion (GitHub) - code
 * tsdf-fusion-python (GitHub) - code
 * 3dmatch-toolbox (GitHub) - code