SLAM开源代码:
ORB-SLAM :https://github.com/raulmur/ORB_SLAM
LSD-SLAM:https://github.com/tum-vision/lsd_slam
ORB-SLAM2:https://github.com/raulmur/ORB_SLAM2
DVO(密集视觉测距):https://github.com/tum-vision/dvo_slam
SVO(半直接单眼视觉测距):https://github.com/uzh-rpg/rpg_svo
G2O(一般图优化):https://github.com/RainerKuemmerle/g2o
RGBD-SLAM:(https://github.com/felixendres/rgbdslam_v2)
开源代码repo 说明:
1.1 gmapping
ROS封装的gmapping节点:https://github.com/ros-perception/slam_gmapping
gmapping的实现源码:https://github.com/ros-perception/openslam_gmapping
1.2 Hector
https://github.com/tu-darmstadt-ros-pkg/hector_slam
1.3 karto
ROS封装的karto节点:https://github.com/ros-perception/slam_karto
karto内部实现:https://github.com/ros-perception/open_karto
https://github.com/skasperski/navigation_2d
1.4 cartographer
算法实现:https://github.com/googlecartographer/cartographer
https://github.com/googlecartographer/cartographer_ros
主流开源SLAM方案
PTAM(单目) :http://www.robots.ox.ac.uk/~gk/PTAM/
MonoSLAM(单目):https://github.com/hanmekim/SceneLib2
Elastic Fusion(RGBD): Open source code:https://github.com/mp3guy/ElasticFusion
Kintinous(RGBD):Open source code:https://github.com/mp3guy/Kintinuous
RGBD-SLAM-V2: Open source code:https://github.com/felixendres/rgbdslam_v2
RTAB-MAP: Code:https://github.com/introlab/rtabmap
SLAM开源代码
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