Awesome

Awesome Wheel SLAM

💎 Author: Jie Yin 殷杰

📝 Introduction

Wheel-based SLAM, often combined with sensors like cameras, IMUs, and LiDAR, offers robust localization and mapping by leveraging the precise motion estimation from wheel odometry, enhancing accuracy and reliability in various robotic applications.

This is a curated list of resources relevant to wheel-based SLAM. I will keep updating this website from time to time. If this project is helpful for your research, please give me a star and fork, thanks! If your work about wheel-based SLAM is accepted to top conferences or transactions, welcome to propose a issue and remind me of updating your work!

🔥 Projects

• ⭐️[ICRA2024] Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases [paper][code][dataset]

• [ICRA2023] PIEKF-VIWO: Visual-inertial-wheel odometry using partial invariant extended Kalman filter [paper]

• ⭐️[IROS2023] LIWO: LiDAR-Inertial-Wheel Odometry [paper][code]

• [TIV2022] Structural Lines Aided Monocular Visual-Inertial-Wheel Odometry With Online IMU-Wheel Extrinsic Optimization on S2 Manifold [paper]

• ⭐️[RAL2022] Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU [paper][code]

• [TITS2022] Wheel-INS2: Multiple {MEMS IMU}-Based Dead Reckoning System With Different Configurations for Wheeled Robots [paper][code]

• [ROBIO2022] Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry [paper]

• [TVT2021] Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System [paper][code]

• [IROS2020] Visual-inertial-wheel odometry with online calibration [paper][code]

• [Remote Sensing2019] DRE-SLAM: Dynamic RGB-D Encoder SLAM for a Differential-Drive Robot [papercode]

• [ICRA2017] VINS on wheels (Reccommended) [paper]

• ⭐️[ACC2017] Gyro-aided camera-odometer online calibration and localization [paper][code]

• ⭐️[Github] An visual-inertial-wheel fusion odometry [paper][code]

• [Github] Visual-Inertial Odometry Coupled with Wheel Encoder and GNSS [paper][code]

• [Github] Simultaneous localizing and mapping through visual, inertial measurement unit, encoders and maybe other odometers [code]

• [Github] VINS-Fusion for For Vehicle dense mapping and navigation [code]

• [Github] VINS-Fusion based SLAM with tightly-coupled wheel odometry and DNN based front-end [code]

⭐️ Related awesome lists

• awesome-LiDAR-Visual-SLAM
• awesome-isaac-sim
• awesome-LiDAR-Camera-Calibration
• awesome-SLAM
• awesome-SLAM-datasets
• Awesome-Implicit-NeRF-Robotics
• awesome-humanoid-learning
• awesome-isaac-gym
• Awesome-Quadrupedal-Robots
• Awesome-Robot-Descriptions
• awesome-legged-locomotion-learning

Star History