Table of Contents:

SLAM

Early efforts towards visual SLAM were solved by filtering. [5], [6]

https://arxiv.org/pdf/1902.03747.pdf

Keyframe-Bases SLAM

Parallel Tracking and Mapping (PTAM) by Klein and Murray introduced idea of splitting camera tracking and mapping in parallel threads

ORB-SLAM

LSD-SLAM

Semi-Direct Visual Odometry (SVO)

Forster et al. [4]

GraphSLAM

VIDEO https://www.youtube.com/playlist?list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_

SLAM methods [2, 10, 13, 14, 21, 30]

M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, and S. Teller. Simultaneous localization and map building in large-scale cyclic envi- ronments using the atlas framework. IJRR, 23(12), 2004.

T. Duckett, S. Marsland, and J. Shapiro. Learning globally consistent maps by relaxation. ICRA 2000.

J. Folkesson and H. I. Christensen. Robust SLAM. ISAV 2004. [14] U. Frese, P. Larsson, and T. Duckett. A multigrid algorithm for simultaneous localization and mapping. IEEE Transactions on Robotics, 2005.

K. Konolige. Large-scale map-making. AAAI, 2004.

S. Thrun and M. Montemerlo. The GraphSLAM algorithm with applications to large-scale mapping of urban structures. IJRR, 25(5/6), 2005.

. Folkesson and H. I. Christensen. Robust SLAM. ISAV 2004.

Monte Carlo Localization

Bundler

Extract focal lengths from Exif tags, call SIFT on the image set focal constraints,

SLAM Code

http://www.robots.ox.ac.uk/~vgg/hzbook/code/ http://ceres-solver.org/ http://www.cs.cornell.edu/~snavely/bundler/ https://github.com/snavely/bundler_sfm http://wp.doc.ic.ac.uk/thefutureofslam/wp-content/uploads/sites/93/2015/12/slides_ajd.pdf http://wp.doc.ic.ac.uk/thefutureofslam/wp-content/uploads/sites/93/2015/12/kerl_etal_iccv2015_futureofslam_talk.pdf https://github.com/tum-vision/lsd_slam https://vision.in.tum.de/research/vslam/lsdslam

LSD SLAM

http://16623.courses.cs.cmu.edu/slides/Lecture_19.pdf

Deep Learning + SLAM

https://arxiv.org/abs/1612.00603 https://www.ci2cv.net/media/papers/AAAI2018_chenhuan.pdf

core idea of optimizing variable in latent space is similar

  • Prior for 3D Shape. https://ci2cv.net/media/papers/WACV18.pdf
  • Prior for depth map. code slam

https://www.ri.cmu.edu/wp-content/uploads/2018/01/mingfanc_thesis.pdf

http://16623.courses.cs.cmu.edu/slides/Lecture_13.pdf http://16623.courses.cs.cmu.edu/slides/Lecture_12.pdf http://16623.courses.cs.cmu.edu/slides/Lecture_14.pdf http://16623.courses.cs.cmu.edu/slides/Lecture_19.pdf

https://github.com/raulmur/ORB_SLAM2

https://github.com/tum-vision/lsd_slam

https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial1.pdf

https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial2.pdf

References

[1]. Tim Bailey and Hugh Durrant-Whyte. https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial2.pdf

[2]. Tim Bailey and Hugh Durrant-Whyte. https://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial1.pdf

[3]. G. Klein and D. Murray, “Parallel tracking and mapping for small AR workspaces,” in IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR), Nara, Japan, November 2007, pp. 225–23

[4]. C. Forster, M. Pizzoli, and D. Scaramuzza, “SVO: Fast semi-direct monocular visual odometry,” in Proc. IEEE Intl. Conf. on Robotics and Automation, Hong Kong, China, June 2014, pp. 15–22.

[5]. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, “MonoSLAM: Real-time single camera SLAM,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, pp. 1052–1067, 2007

[6]. A. Chiuso, P. Favaro, H. Jin, and S. Soatto, “Structure from motion causally integrated over time,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, no. 4, pp. 523–535, 2002