Prof. Micheal Kaess is the author of iSAM. His PhD is under supervision of Prof. Frank Dellaert in Georgia Tech, and Post Doc in Prof. John Leonard in MIT. Now he seems focusing on RBGD mapping, and optimization algorithm in SLAM.
Prof. Sanjiv Singh is the supervisor of Ji Zhang who did a great work on 3D lidar SLAM.
Prof. Micheal Kaess, Prof. Sanjiv Singh, Dr. Ji Zhang
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Optimization
- 2006: Square Root SAM: Simultaneous localization and mapping via square root information smoothing
- 2008: iSAM: Incremental smoothing and mapping
- 2012: iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
- 2014: RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
- 2009: Covariance Recovery from a Square Root Information Matrix for Data Association
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RBGD Mapping
- 2012: Kintinuous: Spatially Extended KinectFusion
- 2015: Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion
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Cooperative Mapping
- 2010: Multiple Relative Pose Graphs for Robust Cooperative Mapping
- 3D Lider SLAM
- 2014: LOAM: Lidar Odometry and Mapping in Real-time
Prof. Frank Dellaert is one of the earlist researchers on SLAM. Now they mainly focus on developing backend algorithm for mapping or BA, including GTSAM, DDF-SAM, ILBA.
Prof. Frank Dellaert
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GTSAM: C++ library for SLAM backend, based on iSAM
- 2006: Square Root SAM: Simultaneous localization and mapping via square root information smoothing
- 2008: iSAM: Incremental smoothing and mapping
- 2012: iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
- 2014: RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
- 2010-IROS Subgraph-preconditioned conjugate gradients for large scale slam
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DDF-SAM: Decentralized Data Fusion, for cooperative SLAM.
- 2010: DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs
- 2012: Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association
- 2013: DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping
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iLBA: Incremental Light Bundle Adjustment, open source
- 2013: Incremental Light Bundle Adjustment for Robotics Navigation
Focus on VINS, Prof. Stergios Roumeliotis is the second author of MSCKF. Cooperate with google, and participate in Project Tango. Focus on cooperative mapping and application on mobile devices.
Prof. Stergios Roumeliotis
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Cooperative Mapping
- An offline VI-SLAM algorithm
- Create optimization with constraint and solve with Lagrangian multipler
- All features and KFs are variables
- Speed up by blocking Hessian, efficient when small number of overlapping features observed
- Both point features, free lines and "Manhatton lines"
- 2015: Resource-Aware Large-Scale Cooperative 3D Mapping from Multiple Cell Phones
- 2016: Large-Scale Cooperative 3D Visual-Inertial Mapping in a Manhattan World
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Square Root Inverse Sliding Window Filter (SR-ISWF)
- Compare with MSCKF
- 2015: A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices
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C-KLAM: Constrained Keyframe-Based Localization and Mapping
- 2013: C-KLAM: Constrained Keyframe Localization and Mapping for Long-Term Navigation
- 2014: C-KLAM: Constrained Keyframe-Based Localization and Mapping
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Incremental Batch Least-Squares (IBLS): SLAM for resource constrained mobile devices (like Tango)
- 2015: A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices
- 2014: Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps
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Visual-Inertial Navigation System (VINS) using a Rolling-Shutter Camera
Prof. Anastasios Mourikis is the athor of MSCKF.
Prof. John Leonard
- Visual SLAM
- 2016 ICRA: High-Performance and Tunable Stereo Reconstruction
- 2015 RSS: Monocular SLAM-Supported Object Recognition
Seems more focus on different robot systems.
Prof. Roland Siegwart
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Calibration
- Kalibr
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VIO
- 2015: Robust Visual Inertial Odometry Using a Direct EKF-Based Approach (ROVIO)
- 2013: Keyframe-Based Visual-Inertial SLAM Using Nonlinear Optimization (OKVIS)
To check their works from their youtube channel
Prof. Marc Pollefeys, Dr. Lionel Heng
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Calibration
- 2015 JFR: Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig
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Visual Localization
- Large scale
- Place recognition
Prof. Davide Scaramuzza
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VINS
- 2016 TRO: On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
- 2014 ICRA: SVO: Fast Semi-Direct Monocular Visual Odometry
- 2014 ICRA: REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time
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Monocular Dense Reconstruction
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UAV
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Event-Camera
Prof. Andrew Davison is one of the most important researchers on SLAM in this world. His important works include: MonoSLAM, KinectFusion, DTAM, SLAM++ (Object based SLAM), ...
Prof. Andrew Davison
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Dense Visual Odometry
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Event-Camera
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Object SLAM
Dr. Stefan Leutenegger is the author of OKVIS, he received his PhD degree from Autonomous Systems Lab of ETH.
Dr. Stefan Leutenegger, Prof. Andrew Davison
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VINS
- OKVIS
- 2015 IJRR: Keyframe-based visual–inertial odometry using nonlinear optimization
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Dense RBGD SLAM
- 2015: ElasticFusion: Dense SLAM Without A Pose Graph
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Event-Camera
Prof. Daniel Cremers.
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LSD-SLAM
- One of the most popular visual SLAM algorithm
- Semi-dense
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DSO: direct sparse odometry
Prof. Juan D. Tardos, Prof. Javier Civera
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ORB-SLAM
- One of the most popular visual SLAM algorithm
- Sparse ORB feature
- ORB based BoW for loop close detection
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Visual-Inertial Direct SLAM
Poisson reconstruction, VRIP(volumetric range image processing), ...