# SFM-Visual-SLAM **Repository Path**: bakili/SFM-Visual-SLAM ## Basic Information - **Project Name**: SFM-Visual-SLAM - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2020-08-12 - **Last Updated**: 2020-12-19 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # SFM-AR-Visual-SLAM ![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg) ## Visual SLAM ##### OKVIS: Open Keyframe-based Visual-Inertial SLAM http://ethz-asl.github.io/okvis/index.html ##### Uncertainty-aware Receding Horizon Exploration and Mapping Planner https://github.com/unr-arl/rhem_planner ##### S-PTAM: Stereo Parallel Tracking and Mapping https://github.com/lrse/sptam ##### mcptam MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig. https://github.com/aharmat/mcptam ##### FAB-MAP visual place recognition algorithm https://github.com/arrenglover/openfabmap ##### rat-SLAM https://github.com/davidmball/ratslam ##### maplab An Open Framework for Research in Visual-inertial Mapping and Localization https://github.com/ethz-asl/maplab from Roland Siegwart ### RGB-D Visual SLAM ##### Fast Odometry and Scene Flow from RGB-D Cameras https://github.com/MarianoJT88/Joint-VO-SF published in ICRA 2017 ##### Real-Time Appearance-Based Mapping http://wiki.ros.org/rtabmap_ros ... Many Demos are available in the website with Several ROS bags ##### general and scalable framework for visual SLAM https://github.com/strasdat/ScaViSLAM/ https://github.com/felixendres/rgbdslam_v2 ROS ready, It accompany a PHD thesis from TUM ##### SLAM in unstructed environments https://github.com/tu-darmstadt-ros-pkg/hector_slam ##### Dense Visual Odometry and SLAM (dvo_slam) https://github.com/tum-vision/dvo_slam ##### Coslam: Collaborative visual slam in dynamic environments https://github.com/danping/CoSLAM ##### Real-time dense visual SLAM system : ElasticFusion https://github.com/mp3guy/ElasticFusion ... it has nice gui and dataset , paper and video too . ##### Real-time dense visual SLAM https://github.com/mp3guy/Kintinuous ##### Deferred Triangulation SLAM Based on PTAM and SLAM track 3d traingulated and 2d non triangulated features . https://github.com/plumonito/dtslam ##### Dense RGBD slam https://github.com/dorian3d/RGBiD-SLAM ##### M2SLAM: Visual SLAM with Memory Management for large-scale Environments https://github.com/lifunudt/M2SLAM ##### SceneLib2 - MonoSLAM open-source library from oxford university c++ SLAM https://github.com/hanmekim/SceneLib2 ##### next best view planner https://github.com/ethz-asl/nbvplanner ##### Dynamic RGB-D Encoder SLAM for a Differential-Drive Robot https://github.com/ydsf16/dre_slam ROS kinetic, openCV 4.0, yolo v3, Ceres ### Augmented Reality ##### PTAM (Parallel Tracking and Mapping) : http://www.robots.ox.ac.uk/~gk/PTAM/ ##### PTAM Android : https://github.com/damienfir/android-ptam ### Monocular SLAM ##### ORB-SLAM: A Versatile and Accurate Monocular SLAM System https://github.com/raulmur/ORB_SLAM .... its modification : ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras https://github.com/raulmur/ORB_SLAM2 its modification to work on IOS : https://github.com/Thunderbolt-sx/ORB_SLAM_iOS ##### REMODE (REgularized MOnocular Depth Estimation) https://github.com/uzh-rpg/rpg_open_remode ... Probabilistic, Monocular Dense Reconstruction in Real Time ##### Fast Semi-Direct Monocular Visual Odometry https://github.com/pizzoli/rpg_svo ##### Fast Semi-Direct Visual Odometry for Monocular, Wide Angle, and Multi-camera Systems no loop closure or bundle adjustment http://rpg.ifi.uzh.ch/svo2.html ##### LSD-SLAM: Large-Scale Direct Monocular SLAM https://github.com/tum-vision/lsd_slam modification over the original package to work with rolling chatter camera ( cheap webcams) https://github.com/FirefoxMetzger/lsd_slam The change is mentioned in this video : https://www.youtube.com/watch?v=TZRICW6R24o ##### ROS wrapper for visolib https://github.com/srv/viso2 It is supported till ROS-indigo. ##### Visual-Inertia-fusion-based Monocular dEnse mAppiNg https://github.com/HKUST-Aerial-Robotics/VI-MEAN with paper and video ICRA 2017. ##### monocular object pose SLAM https://github.com/shichaoy/cube_slam ## LIDAR based ##### LIMO: Lidar-Monocular Visual Odometry https://github.com/johannes-graeter/limo Virtual machine with all the dependencies is ready. ##### LiDAR-based real-time 3D localization and mapping https://github.com/erik-nelson/blam ##### segmatch https://github.com/ethz-asl/segmatch A 3D segment based loop-closure algorithm | ROS ready ## Visual Odometry ##### Dense Sparse odometry https://github.com/JakobEngel/dso ##### monocular odometry algorithm https://github.com/alejocb/dpptam Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence IROS 2015 ##### Stereo Visual odometry https://github.com/rubengooj/StVO-PL Stereo Visual Odometry by combining point and line segment features ##### Monocular Motion Estimation on Manifolds https://github.com/johannes-graeter/momo ### Visual Inertial odometry ##### Kalibr IMU camera calibration toolbox and more. https://github.com/ethz-asl/kalibr Camera-to-IMU calibration toolbox https://github.com/hovren/crisp ##### ROVIO Robust Visual Inertial Odometry https://github.com/ethz-asl/rovio ##### Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight https://github.com/KumarRobotics/msckf_vio ##### A Robust and Versatile Monocular Visual-Inertial State Estimator https://github.com/HKUST-Aerial-Robotics/VINS-Mono ##### Realtime Edge Based Inertial Visual Odometry for a Monocular Camera https://github.com/JuanTarrio/rebvo Specially targetted to embedded hardware. ##### robocentric visual-inertial odometry https://github.com/rpng/R-VIO Monocular camera + 6 DOF IMU ## SFM ##### Structure from Motion (SfM) for Unordered Image Collections https://github.com/TheFrenchLeaf/Bundle ##### Android SFM https://github.com/danylaksono/Android-SfM-client ##### Five Point , 6,7,8 algorithms open geometrical vision https://github.com/marknabil/opengv ##### openSFM Structure from Motion library written in Python on top of OpenCV. It has dockerfile for all installation on ubuntu 14.04 https://github.com/mapillary/OpenSfM ##### Unsupervised Learning of Depth and Ego-Motion from Video An unsupervised learning framework for depth and ego-motion estimation from monocular videos https://github.com/tinghuiz/SfMLearner ##### CVPR 2015 Tutorial for open source SFM Source material for the CVPR 2015 Tutorial: Open Source Structure-from-Motion https://github.com/mleotta/cvpr2015-opensfm ##### Unsupervised Learning of Depth and Ego-Motion from Video https://github.com/tinghuiz/SfMLearner ## concepts in matlab http://vis.uky.edu/~stewe/FIVEPOINT/ SFMedu: A Matlab-based Structure-from-Motion System for Education https://github.com/jianxiongxiao/SFMedu Lorenzo Torresani's Structure from Motion Matlab code https://github.com/scivision/em-sfm https://github.com/vrabaud/sfm_toolbox OpenMVG C++ library https://github.com/openMVG/openMVG collection of computer vision methods for solving geometric vision problems https://github.com/laurentkneip/opengv ##### Multiview Geometry Library in C++11 http://theia-sfm.org/ ##### Quaternion Based Camera Pose Estimation From Matched Feature Points https://sites.google.com/view/kavehfathian/code its paper : https://arxiv.org/pdf/1704.02672.pdf ## Others : ##### Volumetric 3D Mapping in Real-Time on a CPU https://github.com/tum-vision/fastfusion ##### SLAM with IMU on Android https://github.com/knagara/SLAMwithCameraIMUforAndroid ##### IOS iphone 7 plus https://github.com/HKUST-Aerial-Robotics/VINS-Mobile ##### Matlab with some good documentation to how to read the image and so on from the kinect . https://github.com/AutoSLAM/SLAM # Datasets and benchmarking ##### EuRoC MAV Dataset http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth. ##### TUM VI Benchmark for Evaluating Visual-Inertial Odometry https://vision.in.tum.de/data/datasets/visual-inertial-dataset different scenes for evaluating VI odometry ##### challenging Visual Inertial Odometry benchmark https://daniilidis-group.github.io/penncosyvio/ from Pennsylvania, published in ICRA2017 ##### ICL NIUM https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html benchmarking RGB-D, Visual Odometry and SLAM algorithms ##### Benchmarking Pose Estimation Algorithms https://sites.google.com/view/kavehfathian/code/benchmarking-pose-estimation-algorithms ![alt text](https://github.com/marknabil/SFM-Visual-SLAM/blob/master/vi_table.png) ##### Toolbox for quantitative trajectory evaluation of VO/VIO https://github.com/uzh-rpg/rpg_trajectory_evaluation ##### Photorealistic Simulator for VIO testing/benchmarking https://github.com/mit-fast/FlightGoggles # Machine Learning/ Deep learning based [Learning monocular visual odometry with dense 3D mapping from dense 3D flow ](https://arxiv.org/abs/1803.02286) [DeepVO: A Deep Learning approach for Monocular Visual Odometry ](https://arxiv.org/abs/1611.06069) # Survey papers and articles [RGBD ROS SLAM comparison](https://www.researchgate.net/publication/321895908_Experimental_evaluation_of_ROS_compatible_SLAM_algorithms_for_RGB-D_sensors) [SLAM past present and future](https://arxiv.org/pdf/1606.05830.pdf) [Imperial college ICCV 2015 workshop](http://wp.doc.ic.ac.uk/thefutureofslam/) [Deep Auxiliary Learning for Visual Localization and Odometry](http://ais.informatik.uni-freiburg.de/publications/papers/valada18icra.pdf) # follow : ## Robotics and Perception Group https://github.com/tum-vision ## TUM VISION https://github.com/uzh-rpg ## handheld AR http://studierstube.icg.tugraz.at/handheld_ar/cityofsights.php ## Another Curated list for SFM, 3D reconstruction and V-SLAM https://github.com/openMVG/awesome_3DReconstruction_list