orb_slam2改进代码的相关汇总

点线特征相关

添加了线特征。从3D密集SLAM进行表面重建的增量3D线段提取

Add line feature based ORB-SLAM2

RGB-D模式下添加了点线融合

RGBD-SLAM with Point and Line Features, developed based on ORB_SLAM2

单目线特征

ORB-SLAM2_with_line, Monocular ORB-SLAM with Line Features

双目点线融合,在弱纹理环境中传统点特征方法失效的情况下拥有较高的运行鲁棒性

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

用新的特征点替代ORB

使用了一种更好的特征选择方法

GF-ORB-SLAM2, Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detectionand Relocalization

用SuperPoint 替代ORB来进行特征提取

SuperPoint-SLAM

设计的GCNv2具有与ORB功能相同的描述符格式,可以替代关键点提取,精度更高,适合在嵌入式低功耗平台上运行

GCNv2: Efficient Correspondence Prediction for Real-Time SLAM

直接法代替特征点法

使用SVO中直接法来跟踪代替耗时的特征点提取匹配,在保持同样精度的情况下,是原始ORB-SLAM2速度的3倍

ORB-YGZ-SLAM, average 3x speed up and keep almost same accuracy v.s. ORB-SLAM2, use directtracking in SVO to accelerate the feature matching

融合其他传感器

双目VIO版本,加入了LK光流和滑动窗口BA优化

YGZ-stereo-inertial SLAM, LK optical flow + sliding window bundle adjustment

京胖实现的VI-ORB-SLAM2

VIORB, An implementation of Visual Inertial ORBSLAM based on ORB-SLAM2

支持鱼眼,不需要rectify和裁剪输入图

Fisheye-ORB-SLAM, A real-time robust monocular visual SLAM system based on ORB-SLAM for fisheye cameras, without rectifying or cropping the input images

地图相关

添加保存和导入地图功能

Osmap, Save and load orb-slam2 maps

ORB_SLAM2 with map load/save function

添加了地图可视化

Viewer for maps from ORB-SLAM2 Osmap

高翔实现的添加稠密点云地图

ORBSLAM2_with_pointcloud_map

在高翔基础上添加了稠密闭环地图

ORB-SLAM2_RGBD_DENSE_MAP, modified from Xiang Gao’s “ORB_SLAM2_modified”. It is added a dense loopclosing map model

动态环境

适合动态环境,增加了动态物体检测和背景修复的能力

DynaSLAM, is a SLAM system robust in dynamic environments for monocular, stereo and RGB-Dsetups(Mask-Rcnn)

YOLO版本的DynaSLAM

使用语义分割网络和运动一致性检查的方法（光流法）相结合的方法减少视觉SLAM中动态物体造成的影响

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

基于语义的实时动态vSLAM算法RDS-SLAM，跟踪线程不再需要等待语义结果

RDS-SLAM: Real-Time Dynamic SLAM Using Semantic Segmentation Methods

一种用于动态环境下资源受限机器人的实时RGB-D惯性里程计系统-Dynamic-VINS

RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments

动态slam汇总大全

动态slam汇总大全

语义相关

动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库

ORB_SLAM2_SSD_Semantic, 动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库

用YOLO v3的语义信息来增加跟踪性能

TE-ORB_SLAM2, Tracking Enhanced ORB-SLAM2

通过手持RGB-D相机进行SLAM,ORB-SLAM2作为后端,用PSPNet做语义预测并将语义融入octomap

Semantic SLAM,Real time semantic slam in ROS with a hand held RGB-D camera orb-slam2 with semantic labelling

用深度学习的场景理解来增强传统特征检测方法,基于贝叶斯SegNet 和ORB-SLAM2,用于长时间定位

SIVO: Semantically Informed Visual Odometry and Mapping

参考计算机视觉life内容，仅供学习使用