List of SLAM methods: Difference between revisions

Content deleted Content added

Inline

Latest revision as of 18:31, 9 February 2024

This is a list of simultaneous localization and mapping (SLAM) methods. The KITTI Vision Benchmark Suite website has a more comprehensive list of Visual SLAM methods.

List of methods

EKF SLAM
FastSLAM 1.0
FastSLAM 2.0
L-SLAM^[1] (Matlab code)
QSLAM^[2]
GraphSLAM
Occupancy Grid SLAM^[3]
DP-SLAM
Parallel Tracking and Mapping (PTAM)^[4]
LSD-SLAM^[5] (available as open-source)
S-PTAM^[6] (available as open-source)
ORB-SLAM^[7] (available as open-source)
ORB-SLAM2 (available as open-source)
ORB-SLAM3 (available as open-source)
OrthoSLAM
MonoSLAM
GroundSLAM
CoSLAM^[8]
SeqSlam^[9]^[10]
iSAM (Incremental Smoothing and Mapping)^[11]
CT-SLAM (Continuous Time)^[12] - referred to as Zebedee (SLAM)
RGB-D SLAM ^[13]^[14]
BranoSLAM
Kimera (open-source)^[15]
Wildcat-SLAM

References

^ Zikos, Nikos; Petridis, Vassilios (2014). "6-DoF Low Dimensionality SLAM (L-SLAM)". Journal of Intelligent & Robotic Systems. 79: 1–18. doi:10.1007/s10846-014-0029-6. ISSN 0921-0296. S2CID 40486562.
^ "SLAM". The Telegraph. 3 September 2019. Sunday, 2 May 2021
^ Thrun, S.; Burgard, W.; Fox, D. (2005). Probabilistic Robotics. Cambridge: The MIT Press. ISBN 0-262-20162-3.
^ G. Klein and D. Murray (2007). "Parallel Tracking and Mapping for Small AR Workspaces" (PDF). 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality. pp. 1–10. doi:10.1109/ISMAR.2007.4538852. ISBN 978-1-4244-1749-0. S2CID 206986664.
^ J. Engel and T. Schops and D. Cremers (2014). "LSD-SLAM: Large-Scale Direct Monocular SLAM" (PDF). European Conference on Computer Vision (ECCV).
^ Taihú Pire and Thomas Fischer and Gastón Castro and Pablo De Cristóforis and Javier Civera and Julio Jacobo Berlles (2017). "S-PTAM: Stereo Parallel Tracking and Mapping". Robotics and Autonomous Systems. 93: 27–42. doi:10.1016/j.robot.2017.03.019. hdl:11336/59974. ISSN 0921-8890.
^ R. Mur-Artal and J. M. M. Montiel and J. D. Tardós (2015). "ORB-SLAM: A Versatile and Accurate Monocular SLAM System". IEEE Transactions on Robotics. 31 (5): 1147–1163. arXiv:1502.00956. Bibcode:2015arXiv150200956M. doi:10.1109/TRO.2015.2463671. ISSN 1552-3098. S2CID 206775100.
^ D. Zou and P. Tan (2013). "CoSLAM: Collaborative Visual SLAM in Dynamic Environments" (PDF). IEEE Transactions on Pattern Analysis and Machine Intelligence. 35 (2). IEEE: 354–66. doi:10.1109/TPAMI.2012.104. PMID 22547430. S2CID 9517281.
^ Michael J. Milford and Gordon. F. Wyeth. "SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights". Proceedings of the International Conference on Robotics and Automation.
^ "QSLAM". Sunday, 18 April 2021
^ "iSAM: Incremental Smoothing and Mapping". people.csail.mit.edu. Retrieved 2018-02-14.
^ M. Bosse and R. Zlot (2009). "Continuous 3D scan-matching with a spinning 2D laser". 2009 IEEE International Conference on Robotics and Automation. pp. 4312–4319. doi:10.1109/ROBOT.2009.5152851. ISBN 978-1-4244-2788-8. ISSN 1050-4729. S2CID 2819117.
^ F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard (2013). "3-D mapping with an RGB-D camera". IEEE Transactions on Robotics: 177–187.
^ "Rgbdslamv2". Retrieved 2019-09-20.
^ A. Rosinol and M. Abate and Y. Chang and L. Carlone (2020). "Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping". IEEE International Conference on Robotics and Automation. arXiv:1910.02490.

[Zikos2014-1] Zikos, Nikos; Petridis, Vassilios (2014). "6-DoF Low Dimensionality SLAM (L-SLAM)". Journal of Intelligent & Robotic Systems. 79: 1–18. doi:10.1007/s10846-014-0029-6. ISSN 0921-0296. S2CID 40486562.

[2] "SLAM". The Telegraph. 3 September 2019. Sunday, 2 May 2021

[Trun2005-3] Thrun, S.; Burgard, W.; Fox, D. (2005). Probabilistic Robotics. Cambridge: The MIT Press. ISBN 0-262-20162-3.

[Klein07-4] G. Klein and D. Murray (2007). "Parallel Tracking and Mapping for Small AR Workspaces" (PDF). 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality. pp. 1–10. doi:10.1109/ISMAR.2007.4538852. ISBN 978-1-4244-1749-0. S2CID 206986664.

[Engel14-5] J. Engel and T. Schops and D. Cremers (2014). "LSD-SLAM: Large-Scale Direct Monocular SLAM" (PDF). European Conference on Computer Vision (ECCV).

[pire17-6] Taihú Pire and Thomas Fischer and Gastón Castro and Pablo De Cristóforis and Javier Civera and Julio Jacobo Berlles (2017). "S-PTAM: Stereo Parallel Tracking and Mapping". Robotics and Autonomous Systems. 93: 27–42. doi:10.1016/j.robot.2017.03.019. hdl:11336/59974. ISSN 0921-8890.

[Mur-Artal15-7] R. Mur-Artal and J. M. M. Montiel and J. D. Tardós (2015). "ORB-SLAM: A Versatile and Accurate Monocular SLAM System". IEEE Transactions on Robotics. 31 (5): 1147–1163. arXiv:1502.00956. Bibcode:2015arXiv150200956M. doi:10.1109/TRO.2015.2463671. ISSN 1552-3098. S2CID 206775100.

[Danping13-8] D. Zou and P. Tan (2013). "CoSLAM: Collaborative Visual SLAM in Dynamic Environments" (PDF). IEEE Transactions on Pattern Analysis and Machine Intelligence. 35 (2). IEEE: 354–66. doi:10.1109/TPAMI.2012.104. PMID 22547430. S2CID 9517281.

[Milford-9] Michael J. Milford and Gordon. F. Wyeth. "SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights". Proceedings of the International Conference on Robotics and Automation.

[10] "QSLAM". Sunday, 18 April 2021

[11] "iSAM: Incremental Smoothing and Mapping". people.csail.mit.edu. Retrieved 2018-02-14.

[ctslam-12] M. Bosse and R. Zlot (2009). "Continuous 3D scan-matching with a spinning 2D laser". 2009 IEEE International Conference on Robotics and Automation. pp. 4312–4319. doi:10.1109/ROBOT.2009.5152851. ISBN 978-1-4244-2788-8. ISSN 1050-4729. S2CID 2819117.

[rgbdslam-13] F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard (2013). "3-D mapping with an RGB-D camera". IEEE Transactions on Robotics: 177–187.

[14] "Rgbdslamv2". Retrieved 2019-09-20.

[Rosinol20-15] A. Rosinol and M. Abate and Y. Chang and L. Carlone (2020). "Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping". IEEE International Conference on Robotics and Automation. arXiv:1910.02490.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

[10]

[11]

[12]

[13]

[14]

[15]

@@ Line 1: / Line 1: @@
+{{short description|none}}
-{{Orphan|date=January 2015}}
 {{Expand list|date=February 2014}}
-This is a list of [[Simultaneous localization and mapping|SLAM (Simultaneous localization and mapping)]] methods.
+This is a list of [[simultaneous localization and mapping]] (SLAM) methods. [http://www.cvlibs.net/datasets/kitti/eval_odometry.php The KITTI Vision Benchmark Suite website] has a more comprehensive list of Visual SLAM methods.
 ==List of methods==
 * [[EKF SLAM]]
 * [[FastSLAM|FastSLAM 1.0]]
 * [[FastSLAM|FastSLAM 2.0]]
-* L-SLAM<ref name=Zikos2014>{{Citation
+* L-SLAM<ref name=Zikos2014>{{cite journal
- | last = Zikos
+ | last1 = Zikos
- | first = Nikos
+ | first1 = Nikos
  | last2 = Petridis
  | first2 = Vassilios
  | title = 6-DoF Low Dimensionality SLAM (L-SLAM)
  | journal = Journal of Intelligent & Robotic Systems
+ | volume = 79
  | pages = 1–18
- | publisher = Springer
  | doi = 10.1007/s10846-014-0029-6
  | year = 2014
+ | s2cid = 40486562
  | issn = 0921-0296}}</ref> [https://github.com/nzikos/L-SLAM (Matlab code)]
+* [[QSLAM]]<ref>{{cite news| url=https://www.telegraph.co.uk/business/business-reporter/ai-robots/ |title= SLAM |newspaper= The Telegraph |date= 3 September 2019 }} Sunday, 2 May 2021 </ref>
 * [[GraphSLAM]]
 * Occupancy Grid SLAM<ref name=Trun2005>{{cite book
@@ Line 32: / Line 31: @@
 }}</ref>
 * [[DP-SLAM]]
-* [http://www.robots.ox.ac.uk/~gk/PTAM Parallel Tracking and Mapping (PTAM)]<ref name=Klein07>{{cite journal
+* [http://www.robots.ox.ac.uk/~gk/PTAM Parallel Tracking and Mapping (PTAM)]<ref name=Klein07>{{cite book
  | author = G. Klein and D. Murray
- | title = Parallel Tracking and Mapping for Small AR Workspaces
+ | chapter= Parallel Tracking and Mapping for Small AR Workspaces
- | journal = International Symposium on Mixed and Augmented Reality (ISMAR)
+ | title= 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
+ | pages = 1–10
- | url = http://www.robots.ox.ac.uk/~gk/publications/KleinMurray2007ISMAR.pdf
+ | chapter-url = http://www.robots.ox.ac.uk/~gk/publications/KleinMurray2007ISMAR.pdf
  | year = 2007
+| doi = 10.1109/ISMAR.2007.4538852
-}}</ref>
+ | isbn = 978-1-4244-1749-0
+ | s2cid = 206986664
+ }}</ref>
 * [https://vision.in.tum.de/lsdslam LSD-SLAM]<ref name=Engel14>{{cite journal
  | author = J. Engel and T. Schops and D. Cremers
@@ Line 51: / Line 54: @@
  | title = S-PTAM: Stereo Parallel Tracking and Mapping
  | year = 2017
- | volume =
+ | volume = 93
  | number =
- | pages=
+ | pages=27–42
  | doi = 10.1016/j.robot.2017.03.019
- | ISSN = 0921-8890}}</ref> (available as open-source)
+ | issn = 0921-8890| hdl = 11336/59974
+ | hdl-access = free
+ }}</ref> (available as open-source)
 * [http://webdiis.unizar.es/~raulmur/orbslam/ ORB-SLAM]<ref name=Mur-Artal15>{{cite journal
  | author = R. Mur-Artal and J. M. M. Montiel and J. D. Tardós
@@ Line 65: / Line 70: @@
  | pages=1147–1163
  | doi = 10.1109/TRO.2015.2463671
- | ISSN = 1552-3098
+ | issn = 1552-3098
- | arxiv = 1502.00956}}</ref> (available as open-source)
+ | arxiv = 1502.00956| bibcode = 2015arXiv150200956M
+ | s2cid = 206775100
-* ORB-SLAM2
+ }}</ref> (available as open-source)
+* [https://github.com/raulmur/ORB_SLAM2 ORB-SLAM2] (available as open-source)
+* [https://github.com/UZ-SLAMLab/ORB_SLAM3 ORB-SLAM3] (available as open-source)
+* OrthoSLAM
 * MonoSLAM
+* GroundSLAM
 * [https://github.com/danping/CoSLAM CoSLAM]<ref name=Danping13>{{
 cite journal
  |author = D. Zou and P. Tan
  | title = CoSLAM: Collaborative Visual SLAM in Dynamic Environments
- | journal = IEEE Trans. on Pattern Analysis and Machine Intelligence
+ | journal = IEEE Transactions on Pattern Analysis and Machine Intelligence
+ | volume = 35
+ | issue = 2
+ | pages = 354–66
  | url = http://www.cs.sfu.ca/~pingtan/Papers/pami12_slam.pdf
  | publisher = IEEE
  | year = 2013
+| doi = 10.1109/TPAMI.2012.104
-}}
+ | pmid = 22547430
+ | s2cid = 9517281
+ }}
 </ref>
-* [https://openslam.org/openseqslam.html SeqSlam]<ref name=Milford>{{
+* [https://web.archive.org/web/20161011222338/http://openslam.org/openseqslam.html SeqSlam]<ref name=Milford>{{
-cite journal
+cite book
    |author = Michael J. Milford and Gordon. F. Wyeth
-   |title = SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights
+   |chapter= SeqSLAM: Visual Route-Based Navigation for Sunny Summer Days and Stormy Winter Nights
-   |journal =  Proc. of Intl. Conf. on Robotics and Automation
+   |title=  Proceedings of the International Conference on Robotics and Automation
 }}
+</ref><ref>{{cite web| url=https://uspto.report/patent/app/20210089040 |title= QSLAM }} Sunday, 18 April 2021 </ref>
-</ref>
+* iSAM (Incremental Smoothing and Mapping)<ref>{{Cite web|url=http://people.csail.mit.edu/kaess/isam/|title=iSAM: Incremental Smoothing and Mapping|website=people.csail.mit.edu|access-date=2018-02-14}}</ref>
+* [https://research.csiro.au/robotics/continuous-3d-scan-matching-with-a-spinning-2d-laser/ CT-SLAM (Continuous Time)]<ref name=ctslam>{{cite book
+ | author = M. Bosse and R. Zlot
+ | title = 2009 IEEE International Conference on Robotics and Automation
+ | chapter = Continuous 3D scan-matching with a spinning 2D laser
+ | year = 2009
+ | pages= 4312–4319
+ | doi = 10.1109/ROBOT.2009.5152851
+ | issn = 1050-4729 | isbn = 978-1-4244-2788-8
+ | s2cid = 2819117
+ }}</ref> - referred to as [[Zebedee (SLAM)]]
+* RGB-D SLAM <ref name=rgbdslam>{{cite journal
+ | author = F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard
+ | journal = IEEE Transactions on Robotics
+ | title = 3-D mapping with an RGB-D camera
+ | year = 2013
+ | pages= 177–187
+ }}</ref><ref>{{Cite web|url=https://felixendres.github.io/rgbdslam_v2/|title=Rgbdslamv2|access-date=2019-09-20}}</ref>
+* BranoSLAM
+* [https://github.com/MIT-SPARK/Kimera Kimera] (open-source)<ref name=Rosinol20>{{cite book
+ | author = A. Rosinol and M. Abate and Y. Chang and L. Carlone
+ | chapter= Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
+ | title= IEEE International Conference on Robotics and Automation
+ | year = 2020
+| arxiv = 1910.02490
+ }}</ref>
+* [https://www.csiro.au/en/research/technology-space/robotics/wildcat-slam-2 Wildcat-SLAM]
 ==References==

v t e Robotics
Main articles	Outline Glossary Index History Geography Hall of Fame Ethics Laws Competitions AI competitions
Types	Aerobot Anthropomorphic Humanoid Android Cyborg Gynoid Claytronics Companion Automaton Animatronic Audio-Animatronics Industrial Articulated arm Domestic Educational Entertainment Juggling Military Medical Service Disability Agricultural Food service Retail BEAM robotics Soft robotics
Classifications	Biorobotics Cloud robotics Continuum robot Unmanned vehicle aerial ground Mobile robot Microbotics Nanorobotics Necrobotics Robotic spacecraft Space probe Swarm Telerobotics Underwater remotely-operated Robotic fish
Locomotion	Tracks Walking Hexapod Climbing Electric unicycle Robotic fins
Navigation and mapping	Motion planning Simultaneous localization and mapping Visual odometry Vision-guided robot systems
Research	Evolutionary Kits Simulator Suite Open-source Software Adaptable Developmental Human–robot interaction Paradigms Perceptual Situated Ubiquitous
Companies	Amazon Robotics Anybots Barrett Technology Boston Dynamics Energid Technologies FarmWise FANUC Figure AI Foster-Miller Harvest Automation Honeybee Robotics Intuitive Surgical IRobot KUKA Starship Technologies Symbotic Universal Robotics Wolf Robotics Yaskawa
Related	Critique of work Powered exoskeleton Workplace robotics safety Robotic tech vest Technological unemployment Terrainability Fictional robots
Category Outline