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SFM-Visual-SLAM

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# SFM-AR-Visual-SLAM
![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)

## Visual SLAM

##### GSLAM
General SLAM Framework which supports feature based or direct method and different sensors including monocular camera, RGB-D sensors or any other input types can be handled.
https://github.com/zdzhaoyong/GSLAM

##### 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

##### OpenVSLAM: Versatile Visual SLAM Framework
https://github.com/xdspacelab/openvslam

##### SLAM with Apriltag
https://github.com/berndpfrommer/tagslam
ROS ready, bag file available

##### SE2 SLAM fusing odom and Vision
https://github.com/izhengfan/se2clam

### 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

##### DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes
https://github.com/BertaBescos/DynaSLAM

### 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

##### ORB-SLAM3 An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

https://github.com/UZ-SLAMLab/ORB_SLAM3

##### 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 , rosbag as well.

##### monocular object pose SLAM
https://github.com/shichaoy/cube_slam

##### DeepFactors: Real-Time Probabilistic Dense Monocular SLAM
https://github.com/jczarnowski/DeepFactors?fbclid=IwAR3tMyM_VisfjADs5pX3OHoxSU6w6MorupmvXZDr8c9m2MWLObdcnlBNNpg

##### ORB-SLAM RGBD + Inertial
https://github.com/xiefei2929/ORB_SLAM3-RGBD-Inertial

## 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

##### LIO-SAM
https://github.com/TixiaoShan/LIO-SAM
real-time lidar-inertial odometry

UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping | ICRA'22
https://github.com/url-kaist/UV-SLAM

## 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 Odometry Revisited: What Should Be Learnt?
paper + pytorch code: https://github.com/Huangying-Zhan/DF-VO

##### SimVODIS Simultaneous Visual Odometry, Object Detection, and Instance Segmentation
https://github.com/Uehwan/SimVODIS

#### Modality-invariant Visual Odometry for Embodied Vision
RGB only OR RGB + Depth
https://memmelma.github.io/vot/

### 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

##### VINS modification for omnidirectional + Streo camera 
https://github.com/gaowenliang/vins_so

##### 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

##### Deep Permutation Equivariant Structure from Motion
https://github.com/drormoran/Equivariant-SFM

## 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

## Mapping
##### Direct Sparse Mapping 
https://github.com/jzubizarreta/dsm

##### Volumetric 3D Mapping in Real-Time on a CPU
https://github.com/tum-vision/fastfusion

## Others :

##### 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
## Curated List of datasets: 
https://github.com/youngguncho/awesome-slam-datasets

##### igibson 
simulation environment providing fast visual rendering and physics simulation based on Bullet
https://svl.stanford.edu/igibson/

##### 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

##### Authentic Dataset for Visual-Inertial Odometry
https://github.com/AaltoVision/ADVIO

##### 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

[Survey with year,sensor used and best practice](https://nbviewer.jupyter.org/github/kafendt/List-of-SLAM-VO-algorithms/blob/master/SLAM_table.pdf)

[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

SFM-Visual-SLAM

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