# Visual-Odometry-Review SLAM is mainly divided into two parts: the front end and the back end. The front end is the visual odometer (VO), which roughly estimates the motion of the camera based on the information of adjacent images and provides a good initial value for the back end.The implementation methods of VO can be divided into two categories according to whether features are extracted or not: feature point-based methods, and direct methods without feature points. VO based on feature points is stable and insensitive to illumination and dynamic objects ===================================================================================== github：https://github.com/MichaelBeechan CSDN：https://blog.csdn.net/u011344545 ===================================================================================== OF-VO：Robust and Efficient Stereo Visual Odometry Using Points and Feature Optical Flow 代码：https://github.com/MichaelBeechan/MyStereoLibviso2 SVO: Fast Semi-Direct Monocular Visual Odometry 论文：http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf 代码：https://github.com/uzh-rpg/rpg_svo Robust Odometry Estimation for RGB-D Cameras Real-Time Visual Odometry from Dense RGB-D Images 论文：http://www.cs.nuim.ie/research/vision/data/icra2013/Whelan13icra.pdf 代码：https://github.com/tum-vision/dvo Parallel Tracking and Mapping for Small AR Workspaces 论文：https://cse.sc.edu/~yiannisr/774/2015/ptam.pdf http://www.robots.ox.ac.uk/ActiveVision/Papers/klein_murray_ismar2007/klein_murray_ismar2007.pdf 代码：https://github.com/Oxford-PTAM/PTAM-GPL ORBSLAM 代码：https://github.com/raulmur/ORB_SLAM2 https://github.com/raulmur/ORB_SLAM A ROS Implementation of the Mono-Slam Algorithm 论文：https://www.researchgate.net/publication/269200654_A_ROS_Implementation_of_the_Mono-Slam_Algorithm 代码：https://github.com/rrg-polito/mono-slam DTAM: Dense tracking and mapping in real-time 论文：https://ieeexplore.ieee.org/document/6126513 代码：https://github.com/anuranbaka/OpenDTAM LSD-SLAM: Large-Scale Direct Monocular SLAM 论文：http://pdfs.semanticscholar.org/c13c/b6dfd26a1b545d50d05b52c99eb87b1c82b2.pdf https://vision.in.tum.de/research/vslam/lsdslam 代码：https://github.com/tum-vision/lsd_slam MSCKF_VIO：Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight 论文：https://arxiv.org/abs/1712.00036 代码：https://github.com/KumarRobotics/msckf_vio LIBVISO2: C++ Library for Visual Odometry 2 论文：http://www.cvlibs.net/software/libviso/ 代码：https://github.com/srv/viso2 Stereo Visual SLAM for Mobile Robots Navigation A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM 论文：http://mapir.uma.es/famoreno/papers/thesis/FAMD_thesis.pdf 代码：https://github.com/famoreno/stereo-vo Combining Edge Images and Depth Maps for Robust Visual Odometry Robust Edge-based Visual Odometry using Machine-Learned Edges(REVO) 论文：https://graz.pure.elsevier.com/ 代码：https://github.com/fabianschenk/REVO HKUST Aerial Robotics Group VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator 论文：https://arxiv.org/pdf/1708.03852.pdf 代码：https://github.com/HKUST-Aerial-Robotics/VINS-Mono VINS-Fusion:Online Temporal Calibration for Monocular Visual-Inertial Systems 论文：https://arxiv.org/pdf/1808.00692.pdf 代码;https://github.com/HKUST-Aerial-Robotics/VINS-Fusion Monocular Visual-Inertial State Estimation for Mobile Augmented Reality 论文：https://ieeexplore.ieee.org/document/8115400 代码：https://github.com/HKUST-Aerial-Robotics/VINS-Mobile VINet: Visual-Inertial Odometry as a Sequence-to-Sequence Learning Problem 论文：https://arxiv.org/abs/1701.08376 代码：https://github.com/HTLife/VINet Computer Vision Group TUM Department of Informatics Technical University of Munich DSO: Direct Sparse Odometry 代码;https://github.com/JingeTu/StereoDSO Visual-Inertial DSO：https://vision.in.tum.de/research/vslam/vi-dso DVSO：https://vision.in.tum.de/research/vslam/dvso DSO with Loop-closure and Sim(3) pose graph optimization：https://vision.in.tum.de/research/vslam/ldso Stereo odometry based on careful feature selection and tracking 论文：https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7324219 代码：https://github.com/Mayankm96/Stereo-Odometry-SOFT OKVIS: Open Keyframe-based Visual-Inertial SLAM 代码：https://github.com/gaoxiang12/okvis Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines 论文：https://arxiv.org/pdf/1803.02403.pdf 代码：https://github.com/UMiNS/Trifocal-tensor-VIO PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features 论文：https://www.mdpi.com/1424-8220/18/4/1159/html A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives：视觉惯导的综述性文章