在ORB_SLAM2源码上，基于RGBD深度相机增加稠密点云重建线程、结合ROS增加ros-tf、pointcloud发布线程

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

A practical approach to learning machine learning.

泡泡机器人北京线下SLAM论文分享资料

Semantic Mapping using Surfel Mapping and Semantic Segmentation (Chen et al IROS 2019)

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.