记录 V-SLAM 著名开源项目。

开源项目

ORB-SLAM

地址：https://webdiis.unizar.es/~raulmur/orbslam/

适用于单目、双目、RGB-D相机；

ORB-SLAM is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras. It is able to compute in real-time the camera trajectory and a sparse 3D reconstruction of the scene in a wide variety of environments, ranging from small hand-held sequences of a desk to a car driven around several city blocks.

PTAM

地址： https://github.com/Oxford-PTAM/PTAM-GPL

Parallel Tracking And Mapping, 并行跟踪和建图。一个线程做前端，一个线程做后端，这样后端的运行速度可以与视频速度解耦。

PTAM is a monocular SLAM system useful for real-time 6-DOF camera tracking in small scenes. I

数据集

BAL

全称： Bundle Adjustment in the Large

官网地址：https://grail.cs.washington.edu/projects/bal/

Recent work in Structure from Motion has demonstrated the possibility of reconstructing geometry from large-scale community photo collections. Bundle adjustment, the joint non-linear refinement of camera and point parameters, is a key component of most SfM systems, and one which can consume a significant amount of time for large problems.

看起来发布的时候是为了 SfM 任务的。发布的论文已经是 2010 年的了。

其他

Meshlab, 查看点云。

FAB-MAP(openFABMAP), a Simultaneous Localisation and Mapping algorithm which operates solely in appearance space.