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A curated list of awesome SLAM tutorials, projects and communities.

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# Awesome SLAM [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome)

Simultaneous Localization and Mapping, also known as SLAM, is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

## News
* For researchers, please read the recent review paper, [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://arxiv.org/abs/1606.05830), from Cesar Cadena, Luca Carlone et al.

## Table of Contents

* **[Books](#books)**

* **[Courses, Lectures and Workshops](#courses-lectures-and-workshops)**

* **[Papers](#papers)**

* **[Researchers](#researchers)**

* **[Datasets](#datasets)**

* **[Code](#Code)**

* **[Miscellaneous](#miscellaneous)**

* **[Contributing](#contributing)**

### Books
- [State Estimation for Robotic -- A Matrix Lie Group Approach](http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf) by Timothy D. Barfoot, 2018
- [Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods](http://www.igi-global.com/book/simultaneous-localization-mapping-mobile-robots/66380) by Juan-Antonio Fernández-Madrigal and José Luis Blanco Claraco, 2012
- [Simultaneous Localization and Mapping: Exactly Sparse Information Filters ](http://www.worldscientific.com/worldscibooks/10.1142/8145/) by Zhan Wang, Shoudong Huang and Gamini Dissanayake, 2011
- [Probabilistic Robotics](http://www.probabilistic-robotics.org/) by Dieter Fox, Sebastian Thrun, and Wolfram Burgard, 2005
- [An Invitation to 3-D Vision -- from Images to Geometric Models](http://vision.ucla.edu/MASKS/) by Yi Ma, Stefano Soatto, Jana Kosecka and Shankar S. Sastry, 2005
- [Multiple View Geometry in Computer Vision](http://www.robots.ox.ac.uk/~vgg/hzbook/) by Richard Hartley and Andrew Zisserman, 2004
- [Numerical Optimization](http://home.agh.edu.pl/~pba/pdfdoc/Numerical_Optimization.pdf) by Jorge Nocedal and Stephen J. Wright, 1999

### Courses, Lectures and Workshops
- [SLAM Tutorial@ICRA 2016](http://www.dis.uniroma1.it/~labrococo/tutorial_icra_2016/)
- [Geometry and Beyond - Representations, Physics, and Scene Understanding for Robotics](http://rss16-representations.mit.edu/) at Robotics: Science and Systems (2016)
- [Robotics - UPenn](https://www.coursera.org/specializations/robotics) on Coursera by Vijay Kumar (2016)
- [Robot Mapping - UniFreiburg](http://ais.informatik.uni-freiburg.de/teaching/ws15/mapping/) by  Gian Diego Tipaldi and Wolfram Burgard (2015-2016)
- [Robot Mapping - UniBonn](http://www.ipb.uni-bonn.de/robot-mapping/) by Cyrill Stachniss (2016)
- [Introduction to Mobile Robotics - UniFreiburg](http://ais.informatik.uni-freiburg.de/teaching/ss16/robotics/) by Wolfram Burgard, Michael Ruhnke and Bastian Steder (2015-2016)
- [Computer Vision II: Multiple View Geometry  - TUM](http://vision.in.tum.de/teaching/ss2016/mvg2016) by Daniel Cremers ( Spring 2016)
- [Advanced Robotics - UCBerkeley](http://www.cs.berkeley.edu/~pabbeel/) by Pieter Abbeel (Fall 2015)
- [Mapping, Localization, and Self-Driving Vehicles](https://www.youtube.com/watch?v=x5CZmlaMNCs) at CMU RI seminar by John Leonard (2015)
- [The Problem of Mobile Sensors: Setting future goals and indicators of progress for SLAM](http://ylatif.github.io/movingsensors/) sponsored by Australian Centre for Robotics and Vision (2015)
- [Robotics - UPenn](https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=Main.HomePage) by Philip Dames and Kostas Daniilidis (2014)
- [Autonomous Navigation for Flying Robots](http://vision.in.tum.de/teaching/ss2014/autonavx) on EdX by Jurgen Sturm and Daniel Cremers (2014)
- [Robust and Efficient Real-time Mapping for Autonomous Robots](https://www.youtube.com/watch?v=_W3Ua1Yg2fk) at CMU RI seminar by Michael Kaess (2014)
- [KinectFusion - Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera](https://www.youtube.com/watch?v=bRgEdqDiOuQ) by David Kim (2012)
- [SLAM Summer School](http://www.acfr.usyd.edu.au/education/summerschool.shtml) organized by Australian Centre for Field Robotics (2009)
- [SLAM Summer School](http://www.robots.ox.ac.uk/~SSS06/Website/index.html) organized by University of Oxford and Imperial College London (2006)
- [SLAM Summer School](http://www.cas.kth.se/SLAM/) organized by KTH Royal Institute of Technology (2002)

### Papers
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://arxiv.org/abs/1606.05830) (2016)
- [Direct Sparse Odometry](https://arxiv.org/abs/1607.02565) (2016)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://arxiv.org/abs/1509.05909) (2016)
- [Large-Scale Cooperative 3D Visual-Inertial Mapping in a Manhattan World](http://mars.cs.umn.edu/papers/CM_line.pdf) (2016)
- [Towards Lifelong Feature-Based Mapping in Semi-Static Environments](http://static.googleusercontent.com/media/research.google.com/en//pubs/archive/44821.pdf) (2016)
- [Tree-Connectivity: Evaluating the Graphical Structure of SLAM](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7487264) (2016)
- [Visual-Inertial Direct SLAM](webdiis.unizar.es/~jcivera/papers/concha_etal_icra16.pdf) (2016)
- [A Unified Resource-Constrained Framework for Graph SLAM](people.csail.mit.edu/lpaull/publications/Paull_ICRA_2016.pdf) (2016)
- [Multi-Level Mapping: Real-time Dense Monocular SLAM](https://groups.csail.mit.edu/rrg/papers/greene_icra16.pdf) (2016)
- [Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions](http://arxiv.org/abs/1506.00746) (2015)
- [A Solution to the Simultaneous Localization and Map Building (SLAM) Problem](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=938381&tag=1)
- [Simulataneous Localization and Mapping with the Extended Kalman Filter](http://www.iri.upc.edu/people/jsola/JoanSola/objectes/curs_SLAM/SLAM2D/SLAM%20course.pdf)
- [Robotic Mapping: A Survey](http://robots.stanford.edu/papers/thrun.mapping-tr.pdf)

### Researchers

#### United States
- [John Leonard](https://www.csail.mit.edu/user/817)
- [Sebastian Thrun](http://robots.stanford.edu/)
- [Frank Dellaert](http://borg.cc.gatech.edu/)
- [Dieter Fox](homes.cs.washington.edu/~fox/)
- [Stergios I. Roumeliotis](http://www-users.cs.umn.edu/~stergios/)
- [Vijay Kumar](http://www.kumarrobotics.org/)
- [Ryan Eustice](http://robots.engin.umich.edu/~ryan/)
- [Michael Kaess](http://frc.ri.cmu.edu/~kaess/)
- [Guoquan (Paul) Huang](http://udel.edu/~ghuang/)
- [Gabe Sibley](https://arpg.colorado.edu/people/)
- [Luca Carlone](http://www.lucacarlone.com/)
- [Andrea Censi](censi.mit.edu/)

#### Europe
- [Paul Newman](http://mrg.robots.ox.ac.uk/)
- [Roland Siegwart](http://www.asl.ethz.ch/the-lab/people/person-detail.html?persid=29981)
- [Juan Nieto](http://www.nietojuan.com/)
- [Wolfram Burgard](http://www2.informatik.uni-freiburg.de/~burgard/)
- [Jose Neira](webdiis.unizar.es/~neira/)
- [Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html)

#### Australia
- [Cesar Cadena](http://cs.adelaide.edu.au/~cesar/)
- [Ian Reid](https://cs.adelaide.edu.au/~ianr/)
- [Tim Bailey](http://www-personal.acfr.usyd.edu.au/tbailey/)
- [Gamini Dissanayake](http://www.uts.edu.au/staff/gamini.dissanayake)
- [Shoudong Huang](http://services.eng.uts.edu.au/~sdhuang/)

### Datasets

1.  [Intel Research Lab (Seattle)](http://kaspar.informatik.uni-freiburg.de/~slamEvaluation/datasets/intel.clf)

### Code

1.  [ORB-SLAM](https://github.com/raulmur/ORB_SLAM)  
2.  [LSD-SLAM](https://github.com/tum-vision/lsd_slam)
3.  [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2)
4.  [DVO: Dense Visual Odometry](https://github.com/tum-vision/dvo_slam)
5.  [SVO: Semi-Direct Monocular Visual Odometry](https://github.com/uzh-rpg/rpg_svo)
6.  [G2O: General Graph Optimization](https://github.com/RainerKuemmerle/g2o)
7.  [RGBD-SLAM](https://github.com/felixendres/rgbdslam_v2)

### Miscellaneous

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### Contributing
Have anything in mind that you think is awesome and would fit in this list? Feel free to send a [pull request](https://github.com/kanster/awesome-slam/pulls).

-----
## License

[![CC0](http://i.creativecommons.org/p/zero/1.0/88x31.png)](http://creativecommons.org/publicdomain/zero/1.0/)

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