<br> [MAS.865](../..) &gt; [Scanning Processes](..) &gt; Simultaneous Localization And Mapping ## Simultaneous Localization And Mapping (SLAM) <div style="margin-left:2.5%"> ![SLAM](slam.png) > SLAM is a process by which a mobile robot can build a map of an environment and at the same time use this map to deduce its location. > In SLAM, both the trajectory of the platform and the location of all landmarks are estimated online without the need for any a priori knowledge of location. from [Simultaneous localization and mapping: part I](https://ieeexplore.ieee.org/abstract/document/1638022/). Terminology: * ***Odometry***, the use of data from motion sensors to estimate change in position over time * ***Visual Odometry***, the process of determining the position and orientation of a robot by analyzing the associated camera images ### General Research ![DSO](dso.png) ![DVO](dvo.png) * [OpenSLAM](http://openslam.org/) * [Awesome visual slam](https://github.com/tzutalin/awesome-visual-slam) * [Course from University of Freiburg](http://ais.informatik.uni-freiburg.de/teaching/ws13/mapping/) * [Direct Sparse Odometry](https://vision.in.tum.de/research/vslam/dso) * For large-scale systems * [Dense Visual Odometry](https://vision.in.tum.de/data/software/dvo) * For high-precision systems * [Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects](http://visual.cs.ucl.ac.uk/pubs/cofusion/index.html), ICRA 2017 * [A benchmark for the evaluation of RGB-D SLAM systems](https://vision.in.tum.de/data/datasets/rgbd-dataset), IROS 2012 * [Paper](https://ieeexplore.ieee.org/document/6385773/) ### [Kinect Fusion](https://msdn.microsoft.com/en-us/library/dn188670.aspx) ![Kinect Fusion](kinectfusion.png) * [Paper](http://people.inf.ethz.ch/otmarh/KinectFusion.html) at UIST 2011 * Tracks 6DOF of camera * Fuses 3D data using GPU implementation of volumetric Thresholded Signed Distance Function (TSDF), see * [A volumetric method for building complex models from range images](https://graphics.stanford.edu/papers/volrange/volrange.pdf) and * [Level Set Methods and Dynamic Implicit Surfaces](http://read.pudn.com/downloads118/ebook/502351/LevelSetMethods.pdf) ### Directional SLAM ![Directional SLAM](dirslam.png) * [Julian Straub](http://people.csail.mit.edu/jstraub/), now at Occulus Research * [Mixture of Manhattan Frames](http://people.csail.mit.edu/jstraub/pub/A-Mixture-Of-Manhattan-Frames-Beyond-the-Manhattan-World/) * [Direction-Aware Semi-Dense SLAM](https://arxiv.org/abs/1709.05774), [vid1](https://youtu.be/1cSLE7D3YsQ), [vid2](https://youtu.be/viX-5EykS5c), [code](https://github.com/jstraub/tdp) ### Older * [FastSLAM](http://www.aaai.org/Papers/AAAI/2002/AAAI02-089.pdf), AAAI 2002 * [Mapping and Localization with RFID Technology](https://ieeexplore.ieee.org/abstract/document/1307283/), ICRA 2004 * [MonoSLAM: Real-Time Single Camera SLAM](https://ieeexplore.ieee.org/abstract/document/4160954/), TPAMI 2007 * [3D HDR dense visual SLAM and its application to real-time object re-lighting](https://ieeexplore.ieee.org/abstract/document/6671774/)