Awesome Visual-odometry (VO) and Visual-inertial-odometry (VIO)

Dataset (VO)

• KITTI

Dataset (VIO)

• EuRoC MAV Dataset
• Fast Flight Dataset
• TUM VI Dataset

Open Source (VO)

Feature based method

• PTAM
• REMODE
• ORB-SLAM
• ORB-SLAM2
• Pro-SLAM
• OpenVSLAM
• UcoSLAM

Direct method

• DTAM
• LSD-SLAM
• SVO
• SVO2
• DSO

Open Source (VIO)

• VINS Mono
• VINS Fusion
• Open VINS
• MSCKF_VIO
• OKVIS
• ROVIO
• Maplab
• ORB-SLAM3

Major papers for VO, VIO

Category	Paper	Summary	Group	Year	Author	Paper Link	Github Link
VO(Feature-base)	MonoSLAM: realtime single camera SLAM	Mono-SLAM	Imperial college	2007	Andrew J. Davison/ Olivier Stasse	paper	github
	Parallel Tracking and Mapping on a Camera Phone/ S-PTAM: Stereo parallel tracking and mapping	PTAM/ S-PTAM	oxford	2009	Georg Klein/ David Murray	paper
	REMODE: Probabilistic, monocular dense reconstruction in real time	REMODE	ETH	2014	Matia Pizzoli/ Davide Scaramuzza		github
	ORB-SLAM: a versatile and accurate monocular SLAM system	ORB-SLAM	Zaragoza	2015	Raul Mur-Artal/ Juan D. Tardos	paper
	Proslam: Graph SLAM from a programmer's perspective	pro-SLAM		2018	Dominik Schlegel/ Giorgio Grisetti	paper	github
	OpenVSLAM: A Versatile Visual SLAM Framework	OpenVSLAM		2019	Shinya Sumikura/ Ken Sakurada	paper	github
	UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers	VO + Marker		2019	Rafael Munoz-Salinas/ R. Medina-Carnicer	paper	github
VO(Direct method)	DTAM: Dense tracking and mapping in real-time	DTAM	Imperial college	2011	Richard Newcombe/ Andrew J. Davison	paper	github
	LSD-SLAM: Large-scale direct monocular SLAM	LSD-SLAM	TUM	2014	Jakob Engel/ Daniel Cremers	paper	github
	SVO: Fast semi-direct monocular visual odometry	SVO	ETH	2014	Christian Forster/ Davide Scaramuzza	paper	github
	SVO2	SVO2
	Direct sparse odometry	DSO	TUM	2018	Jakob Engel/ Daniel Cremers		github
VIO	A multi-state constraint Kalman filter for vision-aided inertial navigation	MSCKF	Minnesota	2007	Anastasios I. Mourikis/ Stegios I. Roumeliotis	paper	github
	Robust vision-aided navigation using sliding-window factor graph	Sliding window approach		2013	Han-pang Chiu/ Rakesh Kumar	paper
	Keyframe-based visual–inertial odometry using nonlinear optimization	Global optimization approach	ETH	2015	Stefan Leutenegger/ Paul Furgale	paper
	IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation	IMU Preintegration	ETH	2015, 2016	Christain Forster/ Davide Scaramuzza	paper
	Keyframe-based visual–inertial odometry using nonlinear optimization	OKVIS	ETH	2015	Stefan Leutenegger / Paul Furgale	paper	github
	Simultaneous state initlaization and gyroscope bias calibration in visual inertial aided navigation	IMU + Camera initialization	ETH	2017	Jacques Kaiser/ Davide Scaramuzza	paper
	Rovio/ Roviloi/ Maplab	Rovio/ Roviloi/ Maplab	ETH	2015/ 2017	Michael Bloesch/ Roland Siegwart	paper	github
	Vins-mono: A robust and versatile monocular visual-inertial state estimator / A General Optimization-based Framework for global pose estimation with multiple sensors	VINS-Mono/ VINS-Fusion	HKUST	2018/ 2019	Tong Qin/ Shaojie Shen	paper	github, github
	Robust stereo visual inertial odometry for fast autonomous flight	Stereo + IMU	Kumar lab (penn)	2018	Ke Sun/ Vijay Kumar	paper
	ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM	ORB-SLAM3	Zaragoza		Carlos Campos/ Juan D. Tardós	paper	github
Deep-Learning	CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction	CNN SLAM		2017	Keisuke Tateno/ Nassir Navab	paper
	Superpoint: Self-supervised interest point detection and description	SuperPoint		2018	Daniel DeTone/ Andrew Rabinovich	paper
	Lift: Learned invariant feature transform	LIFT		2016	Kwang Moo Yi/ Fascal Fua	paper
	PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization	PoseNet		2015	Alex Kendal / Roberto Cipolla	paper
	UnDeepVO: Monocular Visual Odometry through Unsupervised Deep	UnDeepVO		2018	Ruihao Li/ Dongbing Gu	paper
	DSAC - Differentiable RANSAC for Camera Localization	DSAC		2017	Eric Brachmann/ Carsten Rother	paper