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

• Probabilistic Robotics by S Thrun, W Burgard, D Fox - 2005 - MIT press

• State Estimation for Robotics by TD Barfoot - 2017

• Multiple View Geometry in Computer Vision by A Harltey, A Zisserman - 2006 - Cambridge University Press

• 视觉 SLAM 十四讲 by 高翔 etc - 2017 - 电子工业出版社

• Estimation with Applications to Tracking and Navigation by Y Bar-Shalom, XR Li, T Kirubarajan

• Optimal Estimation of Dynamic Systems, Second Edition by JL Crassidis, JL Junkins

Tutorials and Basics

• SLAM Tutorial 1 ↗

• SLAM Tutorial 2 ↗

• Visual Odometry 1 ↗

• Visual Odometry 2 ↗

• Bundle Adjustment ↗

• A tutorial on graph-based SLAM ↗

• Motion and structure from motion in a piecewise planar environment ↗

Parameterization

• Inverse Depth Parametrization for Monocular SLAM ↗

• Pose parameterization using Lie groups

  • On-Manifold Preintegration for Real-Time Visual–Inertial Odometry ↗

  • State Estimation for Robotics by TD Barfoot, Chapter 7.

• Pose estimation using linearized rotations and quaternion algebra ↗

Batch Optimization

• g2o ↗

• Google Ceres Solver ↗

• GTSAM ↗

• SBA ↗

• Relative Bundle Adjustment ↗

Graph SLAM

• Olson 2006 ↗

• Square Root SAM 2006 ↗

• iSAM 2008 ↗

• Gresetti 2009 ↗

• iSAM2 2011 ↗

• Johannsson 2013 Temporally scalable visual SLAM using a reduced pose graph ↗

• Survey of Geodetic Method for SLAM ↗

• Generalized graph SLAM: Solving local and global ambiguities through multimodal and hyperedge constraints ↗

• COP-SLAM: Pose Chain Graph ↗

• Towards a robust back-end for pose graph SLAM ↗

Batch vs filter

• The iterated Kalman filter as a Gauss–Newton method ↗

• Why filter? ↗

• Introduction part in OKVIS paper ↗

Mapping

• Robot Mapping: A Survey ↗

Important SLAM Works

• EKF Based: P. Newman’s group’s work ↗

• Partical Filter Based: FastSLAM ↗

Impressive Visual SLAM Works

• EKF - Sparse Feature Based

  • MonoSLAM ↗

• Keyframe Graph Optimization - Sparse Feature Based

  • PTAM ↗

• Relocalization: ↗

• Keyframe Graph Optimization - Direct Dense Based

  • DTAM ↗

• Direct Dense with Surface Construction

  • KinectFusion ↗

Loop Closing

• Appearance Based: Ulrich 2000 ↗

• TREE-MAP: Frese 2006 Closing a Million-Landmarks Loop ↗

• Bags of Words Bases: Angeli 2008 ↗

• Appearance Based: FAB-MAP 2008 ↗

• Appearance Based: FAB-MAP 2.0 2010 ↗

• Vocabulary tree ↗

• Bag of Binary Words Based 2011 ↗

• Down-sampled Binarized Images Based: H. ZHANG 2014 ↗

• Gist

  • implementation of gist ↗

  • loop close with gist in in Manhattan World ↗

• Visual Place Recognition A Survey ↗

State of Art Works

• Direct dense method: LSD-SLAM ↗

• Semi-Direct method: SVO ↗ and SVO 2.0 ↗

• Feature based method: ORB-SLAM ↗

• Direct sparse method: DSO ↗

Visual Inertial SLAM

• MSCKF

  • 1.0 ↗

  • 2.0 in Li’s dissersion: Visual-Inertial Odometry on Resource-Constrained Systems ↗

• Others from Mourikis and Li’s group:

  • Decoupled Representation of the Error and Trajectory Estimates for Efficient Pose Estimation ↗

  • Vision-aided Inertial Navigation with Rolling-Shutter Cameras ↗

  • Online Temporal Calibration for Camera-IMU Systems: Theory and Algorithms ↗

• Keyframe-based visual–inertial odometry using nonlinear optimization ↗

  • Source Code OKVIS

• ROVIO ↗

• Inertial ORB-SLAM ↗

• On-Manifold Preintegration for VIO ↗

• Asynchronous adaptive conditioning for visual–inertial SLAM ↗

• S. Jones IJRR 2010 ↗

• Kelly IJRR 2011 ↗

• A Hesch IJRR 2014 ↗

• A Hesch TRO 2014 ↗

Fusing Odometry And Other Sensor into V-SLAM

• Weighted Local BA ↗

• Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM ↗

• Bi-Objective Bundle Adjustment with Application to Multi-Sensor SLAM ↗

Combining More Image Information

• combining visual SLAM and dense scene flow ↗

• Incorparating edges:

  • PL-SLAM ↗

Semantic SLAM and Learning for SLAM

• SLAM++ ↗

• Special Issues IJRR on RSS 2014 ↗

• Probabilistic Data Association for Semantic SLAM (Best Paper in ICRA-2017) ↗

• Learning for Localization and Mapping, workshop at IROS 2017 ↗

Slides

• The Problem of Mobile Sensors (Workshop in RSS 2015) ↗

• From author of ORB-SLAM ↗

Good blogs and discussions

• The Future of Real-Time SLAM and “Deep Learning vs SLAM” ↗

• 半闲居士 ↗

• 白巧克力亦唯心 ↗

• 刚刚开始做机器人，打算做SLAM，不知道机器人定位领域现在有哪些比较新的算法？希望大家推荐推荐 ↗

• 去美国读CS博士，方向是机器人导航，视觉方面，推荐一下相关编程方面准备？还有相关算法需要学习哪些？↗