Level 07 / 11
Stereo SLAM
Metric scale and depth from stereo pairs
Key Concepts
Systems
| System |
Author/Year |
Key Concepts |
| S-PTAM |
Pire 2017 |
Stereo PTAM, ROS-compatible, real-time |
| ORB-SLAM2 (stereo) |
Mur-Artal 2017 |
Stereo + RGB-D modes, loop closure, relocalization |
| StereoMSCKF |
Sun 2018 |
MSCKF with stereo, efficient for resource-constrained platforms |
| RTAB-Map |
Labbé 2019 |
Multi-sensor (stereo/RGB-D/LiDAR), memory management, large-scale (→ also in Level 4) |
| ORB-SLAM3 (stereo) |
Campos 2020 |
Multi-map, Atlas, stereo + IMU |
| Stella-VSLAM |
Community 2021 |
OpenVSLAM successor, stereo support (→ also in Level 3) |
| Stereo DSO |
Wang 2017 |
Direct sparse stereo odometry, large-scale (DSO extension) |