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SLAM 学习

2016-01-29 10:15 267 查看
01/2007OpenSLAM.org goes online.


News

03/2015Raul Mur Artal contributed his ORB-SLAM code.
09/2014Gijs Dubbelman and Brett Browning contributed their COP-SLAMcode.
08/2013Liang Zhao, Shoudong Huang, Yanbiao Sun, and Gamini Dissanayake contributed their ParallaxBA code.
04/2013Niko Suenderhauf contributed his OpenSeqSLAM code.
03/2013Liang Zhao, Shoudong Huang, and Gamini Dissanayake contributed their LinearSLAM code.
03/2013Michael Milford, Gordon Wyeth, David Ball, and Scott Heath contributed their OpenRatSLAM code.
12/2011Jose Luis Blanco, Juan Antonio Fernandez Madrigal, and Javier Gonzalez Jimenez contributed their RO-SLAM
- Bayesian range-only SLAM with SOGs code.
12/2012Pratik Agarwal and Edwin Olson contributed their MaxMixture code.
10/2011Niko Suenderhauf contributed his Vertigo code.
12/2011Jerry Moravec contributed his ROBOMAP Studio code.
05/2011Michael Ruhnke, Rainer Kuemmerle, Giorgio Grisetti, and Wolfram Burgard contributed their SSA2D code.
04/2011Felix Endres, Juergen Hess, and Nikolas Engelhard contributed theirRGBDSlam code.
04/2011Luciano Spinello contributed his People2D code.
03/2011Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard contributed their G2O code.
03/2011Christoph Hertzberg and Rene Wagner contributed their MTK code.
12/2010We did an internal redesign of the scripts underlying OpenSLAM.org and will from now on better support SLAM-related tools (see the SLAM Tools sections).
10/2010Michael Kaess, Hordur Johannsson, and John Leonard contributed their iSAM code.
06/2010Javier Civera and Jose Maria Montiel contributed their EKFMonoSLAMMatlab code for
EKF SLAM from a 6 DOF motion monocular image sequence.
06/2010Diego Tipaldi and Kai Arras committed their FLIRTLib code for computing features from
laser range data.
10/2009Shoudong Huang Iterated Sparse Local Submap Joining Filter (I-SLSJF) code.
09/2009Andreas Nuechter submitted his SLAM 6D code.
04/2009Oussama El Hamzaoui submitted his CoreSLAM code.
02/2009Udo Frese submitted his TreeMap code.
11/2008Christoph Hertzberg and Udo Frese submitted their SLOM (Sparse Least Squares on Manifolds)
code.
12/2007Haiqiang Zhang submitted his CEKF-SLAM code.
06/2007In the near future, the repositories will be accessable only via https (no http anymore).
05/2007Added the new tree-based constraint network optimizer (TORO) of Giorgio Grisetti and Cyrill
Stachniss.
02/2007Patrick Beeson came up with the idea of a tool-page. This page is now setup.
01/2007Added the Thin Junction Tree Filters for SLAM package of Mark A. Paskin
01/2007Added the SLAM package of Tim Bailey including

EKF, UKF, and FastSLAM code
01/2007Added the CAS Robot Navigation Toolbox by Kai Arras
01/2007Added DP-SLAM by Austin Elizar and Ronald Parr
01/2007Dirk Haehnel's submitted his grid based FastSLAM approach
01/2007Added a simplified and updated version of GMapping
01/2007OpenSLAM.org goes online.
1. Andrew Davison的课程： http://www.doc.ic.ac.uk/~ajd/Robotics/index.html
AD在在week 8里面推荐了slam的两个入门 Tutorial 1 和Tutorial
2

2. Tutorial的两篇文章文笔灰常秀丽，但是不操作还是云里雾里：

所以这里有一个瑞士苏黎世理工的学生练习

大家把excise 3：SLAM（EKF）做了，也就差不多了解些slam的原理了

关于练习3的答案，我过几天上传好, 答案

1. OpenSLAM：https://openslam.org/

这个网站中含有很多slam方面的资料，编写的程序也各有不同，很权威

2. Kitti这个图库，大家可以下载做simulation：http://www.cvlibs.net/datasets/kitti/

3. 个人感觉exercise 3练习后，可以选择 Javier Civera 的程序进行试手，感觉灰常不错。注意对calibration的调整
http://webdiis.unizar.es/~jcivera/code/1p-ransac-ekf-monoslam.html
4. 对于JC的1p RANSAC-monoSLAM有一定了解了，可以试试用SURF去实现

这里有个南理工哥们的论文还不错，可以参考 http://cdmd.cnki.com.cn/Article/CDMD-10288-1012319519.htm
1. Multiple View Geometry in Computer Vision Second Edition ，http://www.robots.ox.ac.uk/~vgg/hzbook/

计算机视觉方面大神级别的书，也有中文版，点此下载中英文双版

2. Robotics Vision and Control ， pdf下载：http://robotics.itee.uq.edu.au/~metr4202/tpl/Robotics%20Vision%20&%20Control.pdf

通过MATLAB几乎把机器人学给贯穿了，里面每章节都有对应的Code，关于里面Matlab的codes，需要留言

澳大利亚昆士兰理工大学的Peter Corke是机器视觉领域的大牛人物，他所编写的Robotics, vision and control一书更是该领域的经典教材

配套有matlab工具箱。工具箱分为两部分，一部分为机器人方面的，另一部分为视觉方面的工具箱

源代码都是开放免费下载的： http://petercorke.com/Toolbox_software.html


News

03/2015Raul Mur Artal contributed his ORB-SLAM code.
09/2014Gijs Dubbelman and Brett Browning contributed their COP-SLAMcode.
08/2013Liang Zhao, Shoudong Huang, Yanbiao Sun, and Gamini Dissanayake contributed their ParallaxBA code.
04/2013Niko Suenderhauf contributed his OpenSeqSLAM code.
03/2013Liang Zhao, Shoudong Huang, and Gamini Dissanayake contributed their LinearSLAM code.
03/2013Michael Milford, Gordon Wyeth, David Ball, and Scott Heath contributed their OpenRatSLAM code.
12/2011Jose Luis Blanco, Juan Antonio Fernandez Madrigal, and Javier Gonzalez Jimenez contributed their RO-SLAM
- Bayesian range-only SLAM with SOGs code.
12/2012Pratik Agarwal and Edwin Olson contributed their MaxMixture code.
10/2011Niko Suenderhauf contributed his Vertigo code.
12/2011Jerry Moravec contributed his ROBOMAP Studio code.
05/2011Michael Ruhnke, Rainer Kuemmerle, Giorgio Grisetti, and Wolfram Burgard contributed their SSA2D code.
04/2011Felix Endres, Juergen Hess, and Nikolas Engelhard contributed theirRGBDSlam code.
04/2011Luciano Spinello contributed his People2D code.
03/2011Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard contributed their G2O code.
03/2011Christoph Hertzberg and Rene Wagner contributed their MTK code.
12/2010We did an internal redesign of the scripts underlying OpenSLAM.org and will from now on better support SLAM-related tools (see the SLAM Tools sections).
10/2010Michael Kaess, Hordur Johannsson, and John Leonard contributed their iSAM code.
06/2010Javier Civera and Jose Maria Montiel contributed their EKFMonoSLAMMatlab code for
EKF SLAM from a 6 DOF motion monocular image sequence.
06/2010Diego Tipaldi and Kai Arras committed their FLIRTLib code for computing features from
laser range data.
10/2009Shoudong Huang Iterated Sparse Local Submap Joining Filter (I-SLSJF) code.
09/2009Andreas Nuechter submitted his SLAM 6D code.
04/2009Oussama El Hamzaoui submitted his CoreSLAM code.
02/2009Udo Frese submitted his TreeMap code.
11/2008Christoph Hertzberg and Udo Frese submitted their SLOM (Sparse Least Squares on Manifolds)
code.
12/2007Haiqiang Zhang submitted his CEKF-SLAM code.
06/2007In the near future, the repositories will be accessable only via https (no http anymore).
05/2007Added the new tree-based constraint network optimizer (TORO) of Giorgio Grisetti and Cyrill
Stachniss.
02/2007Patrick Beeson came up with the idea of a tool-page. This page is now setup.
01/2007Added the Thin Junction Tree Filters for SLAM package of Mark A. Paskin
01/2007Added the SLAM package of Tim Bailey including

EKF, UKF, and FastSLAM code
01/2007Added the CAS Robot Navigation Toolbox by Kai Arras
01/2007Added DP-SLAM by Austin Elizar and Ronald Parr
01/2007Dirk Haehnel's submitted his grid based FastSLAM approach
01/2007Added a simplified and updated version of GMapping
01/2007OpenSLAM.org goes online.
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