常见开源建图方案

本文节选自图书《视觉SLAM十四讲：从理论到实践》

OSLidar 验证可用方案为:

• https://github.com/googlecartographer/cartographer

• https://github.com/laboshinl/loam_velodyne

• https://github.com/simondlevy/BreezySLAM

• https://github.com/OpenSLAM-org

• https://github.com/erik-nelson/blam

• https://github.com/TixiaoShan/LIO-SAM

• https://github.com/hku-mars/FAST_LIO

• https://arxiv.org/abs/1705.09785

一，MonoSLAM

传感器形式：单目

https://github.com/hanmekim/SceneLib2

二，PTAM

传感器形式：单目

http://www.robots.ox.ac.uk/~gk/PTAM/

三，ORB-SLAM

传感器形式：单目为主

http://webdiis.unizar.es/~raulmur/orbslam/

https://github.com/raulmur/ORB_SLAM2

四，LSD-SLAM

传感器形式：单目为主

http://vision.in.tum.de/research/vslam/lsdslam

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

五，SVO

传感器形式：单目

https://github.com/uzh-rpg/rpg_svo

六，DTAM

传感器形式：RGB-D

https://github.com/anuranbaka/OpenDTAM

七，DVO

传感器形式：RGB-D

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

八，DSO

传感器形式：单目

https://github.com/JakobEngel/dso

九，RTAB-MAP

传感器形式：双目/RGB-D

https://github.com/introlab/rtabmap

十，RGBD-SLAM-V2

传感器形式：RGB-D

https://github.com/felixendres/rgbdslam_v2

十一，Elastic Fusion

传感器形式：RGB-D

https://github.com/mp3guy/ElasticFusion

十二，Hector SLAM

传感器形式：激光

https://wiki.ros.org/hector_slam

十三，GMpping

传感器形式：激光

https://wiki.ros.org/gmapping

十四，OKVIS

传感器形式：多目+IMU

https://github.com/ethz-asl/okvis

十五，ROVIO

传感器形式：单目+IMU

https://github.com/ethz-asl/rovio