Awesome SLAM Papers

This is a list of papers I found useful and am collecting for my use as well as for others. This is not a complete list, this is just the papers I found, let me know if you think there are some others I should add. I'll try to keep organizing this into subcategories as the papers accumulate.

I might also make notes to make it easier for me to revisit them. The initial list is credited to RPL. Follow them for interesting slam research. Follow the numbers next to the list to get an order of reading these papers.

Table of Content

• SLAM Basics
• SLAM/Tracking and Mapping
• Visual Odometry
• Visual-Inertial
• Lidar Odometry
• Lidar-Inertial
• iSAM
• Misc Resources
• TODO

SLAM Basics

1. Probabilistic Robotics
2. Factorgraphs for Robot Perception

SLAM/Tracking and Mapping

1. PTAM: Parallel Tracking and Mapping for Small AR Workspaces (2)
2. ORB-SLAM: A Versatile and Accurate Monocular SLAM System (3)
3. DTAM: Dense Tracking and Mapping in Real-Time (4)
4. LSD-SLAM: Large-Scale Direct Monocular SLAM (6)
5. KinectFusion: Real-Time Dense Surface Mapping and Tracking (8)
6. Kintinuous: Spatially Extended KinectFusion (10)
7. ElasticFusion: Dense SLAM Without A Pose Graph (12)
8. REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time
9. Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM
10. Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
11. BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration

Visual Odometry

1. Real-Time Visual Odometry from Dense RGB-D Images
2. Robust Odometry Estimation for RGB-D Cameras (9)
3. SVO: Fast Semi-Direct Monocular Visual Odometry (5)
4. DSO: Direct Sparse Odometry (7)
5. Robust Real-Time Visual Odometry for Dense RGB-D Mapping

Visual-Inertial

1. Visual-Inertial Monocular SLAM with Map Reuse (13)
2. Keyframe-Based Visual-Inertial SLAM Using Nonlinear Optimization (14)
3. On-manifold preintegration for real-time visual–inertial odometry (15)

Lidar Odometry

1. Low-drift and Real-time Lidar Odometry and Mapping
2. KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way

Lidar-Inertial

1. LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
2. LeGO-LOAM: Lightweight and Groundoptimized Lidar Odometry and Mapping on Variable Terrain

iSAM

1. Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
2. iSAM: Incremental Smoothing and Mapping
3. iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
4. (iSAM3) A Nonparametric Belief Solution to the Bayes Tree

Others

CPA-SLAM: Consistent Plane-Model Alignment for Direct RGB-D SLAM Efficient Non-Consecutive Feature Tracking for Robust Structure-from-Motion

Misc Resources

1. SLAM Interview Questions

TODO

1. Add links to the paper pdfs/ project pages