RGB-D 稠密slam相关论文整理

综合方向梳理

了解一下RGB-D SLAM中各开源代码的性能对比以及所使用方法的异同。

名称	类型	开源地址	年度
DTAM	RGB-D	https://github.com/anuranbaka/OpenDTAM
DVO	RGB-D	https://github.com/tum-vision/dvo_slam	2013
RTAB-MAP	双目/RGB-D	https://github.com/introlab/rtabmap
RGBD-SLAM-V2	RGB-D	https://github.com/felixendres/rgbdslam_v2	2014
Elastic Fusion	RGB-D	https://github.com/mp3guy/ElasticFusion	2015-2016

 

Davison实验室套餐

Elastic Fusion：

• ElasticFusion: Real-Time Dense SLAM and Light Source Estimation, T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison and S. Leutenegger, IJRR '16
• ElasticFusion: Dense SLAM Without A Pose Graph, T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison, RSS '15

DynamicFusion

• DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time
• DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time, Richard A. Newcombe, Dieter Fox, Steven M. Seitz. In CVPR 2015. [pdf] [Best-Paper winner]
• Related: SLAM++: Simultaneous Localisation and Mapping at the Level of ObjectsRenato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H. J. Kelly and Andrew J. Davison (CVPR 2013)
  Related: KinectFusion: Real-Time Dense Surface Mapping and Tracking Richard A. Newcombe Shahram Izadi,Otmar Hilliges, David Molyneaux, David Kim, Andrew J. Davison, Pushmeet Kohli, Jamie Shotton, Steve Hodges, Andrew Fitzgibbon (ISMAR 2011, Best paper award!)

 

Dyson实验室的各类产出

• http://www.imperial.ac.uk/dyson-robotics-lab/publications/

 

 

文章	介绍	地址
KinectFusion 解析	重建地图的表现：TSDF模型很有特色 将三维空间划分成网格，但是网格储存的数值是到重建好表面的距离。正负代表靠近相机或远离相机。	https://blog.csdn.net/fuxingyin/article/details/51417822
ElasticFusion 解析	特点：与KinectFusion的网格模型不一样，使用的是surfel模型。	https://blog.csdn.net/fuxingyin/article/details/51433793   YouTube： 效果超赞https://www.youtube.com/watch?v=XySrhZpODYs&feature=youtu.be https://www.youtube.com/watch?v=-dz_VauPjEU&feature=youtu.be
【泡泡机器人公开课】第十四课：KinectFusion、ElasticFusion 论文和代码解析 by 付兴 ...	百度云盘有视频。 讲解有点啰嗦。	http://rosclub.cn/post-227.html