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Simultaneous localization and mapping (SLAM) is the task of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

( Image credit: ORB-SLAM2 )

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Greatest papers with code

ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

20 Oct 2016raulmur/ORB_SLAM2

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.

SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY

PyRobot: An Open-source Robotics Framework for Research and Benchmarking

19 Jun 2019facebookresearch/pyrobot

This paper introduces PyRobot, an open-source robotics framework for research and benchmarking.

ROBOTIC GRASPING ROBOT NAVIGATION SIMULTANEOUS LOCALIZATION AND MAPPING

ORB-SLAM: a Versatile and Accurate Monocular SLAM System

3 Feb 2015raulmur/ORB_SLAM

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments.

SIMULTANEOUS LOCALIZATION AND MAPPING

gradSLAM: Automagically differentiable SLAM

23 Oct 2019gradslam/gradslam

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature.

REPRESENTATION LEARNING SIMULTANEOUS LOCALIZATION AND MAPPING

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans

15 Feb 2020MIT-SPARK/Kimera

Our second contribution is to provide the first fully automatic Spatial PerceptIon eNgine(SPIN) to build a DSG from visual-inertial data.

3D RECONSTRUCTION HUMAN DETECTION ROBOT TASK PLANNING SIMULTANEOUS LOCALIZATION AND MAPPING

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

6 Oct 2019MIT-SPARK/Kimera

We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM).

3D RECONSTRUCTION SIMULTANEOUS LOCALIZATION AND MAPPING

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

4 Mar 2019MIT-SPARK/Kimera

We propose instead to tightly couple mesh regularization and state estimation by detecting and enforcing structural regularities in a novel factor-graph formulation.

3D RECONSTRUCTION SIMULTANEOUS LOCALIZATION AND MAPPING

GSLAM: A General SLAM Framework and Benchmark

ICCV 2019 zdzhaoyong/GSLAM

SLAM technology has recently seen many successes and attracted the attention of high-technological companies.

SIMULTANEOUS LOCALIZATION AND MAPPING

InfiniTAM v3: A Framework for Large-Scale 3D Reconstruction with Loop Closure

2 Aug 2017victorprad/InfiniTAM

Representing the reconstruction volumetrically as a TSDF leads to most of the simplicity and efficiency that can be achieved with GPU implementations of these systems.

3D RECONSTRUCTION SIMULTANEOUS LOCALIZATION AND MAPPING

MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System

24 Oct 2016urbste/MultiCol-SLAM

The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w. r. t the observed environment (scene).

SELF-DRIVING CARS SIMULTANEOUS LOCALIZATION AND MAPPING