SLAM 论文语料库 · 总目录（早期 58 篇版）
⚠️ 本文档基于最早的 58 篇语料库，内容已过时。 语料库后来扩充到 255 篇，完整的分类与阅读顺序请见： - 《论文阅读路线图》（
论文阅读路线图.html/.md）—— 按阅读阶段 + 12 个技术分类重新组织 - 《SLAM 图解入门》（SLAM图解入门.html）—— 零基础图文版本页保留作历史记录。
58 篇论文，全部从 IEEE Xplore 以机构订阅权限下载，经 MinerU 转为 Markdown 全文。 本地路径：PDF 在
papers/，Markdown 在md/。
A. 激光 / 激光惯性 SLAM
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain | 2018 | 8594299 | 4.4 MB | 50,260字符 |
| Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map | 2018 | 8593953 | 4.5 MB | 40,066字符 |
| LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping | 2020 | 9341176 | 4.6 MB | 47,098字符 |
| FAST-LIO2: Fast Direct LiDAR-Inertial Odometry | 2022 | 9697912 | 6.3 MB | 139,471字符 |
| Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels | 2022 | 9718203 | 9.5 MB | 44,535字符 |
| Direct LiDAR Odometry: Fast Localization With Dense Point Clouds | 2022 | 9681177 | 4.6 MB | 53,604字符 |
| DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization | 2022 | 9662965 | 2.6 MB | 56,343字符 |
| KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way | 2023 | 10015694 | 1.6 MB | 54,103字符 |
| iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry | 2024 | 10380742 | 4.3 MB | 58,532字符 |
| PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency | 2024 | 10582536 | 7.0 MB | 145,850字符 |
B. 视觉 / 视觉惯性 SLAM
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras | 2017 | 7946260 | 0.8 MB | 44,433字符 |
| Direct Sparse Odometry | 2018 | 7898369 | 2.6 MB | 87,332字符 |
| VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator | 2018 | 8421746 | 5.9 MB | 100,034字符 |
| OpenVINS: A Research Platform for Visual-Inertial Estimation | 2020 | 9196524 | 0.6 MB | 49,793字符 |
| Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping | 2020 | 9196885 | 4.2 MB | 51,954字符 |
| DM-VIO: Delayed Marginalization Visual-Inertial Odometry | 2022 | 9669044 | 2.7 MB | 51,613字符 |
| GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation | 2022 | 9667780 | 10.1 MB | 100,792字符 |
| Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments | 2023 | 9866888 | 7.1 MB | 134,215字符 |
C. LiDAR-Inertial-Visual 多传感器融合
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry | 2022 | 9981107 | 1.6 MB | 46,568字符 |
| FAST-LIVO2: Fast, Direct LiDAR–Inertial–Visual Odometry | 2025 | 10757429 | 13.2 MB | 132,058字符 |
| LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-Time 3D Radiance Field Map Rendering | 2024 | 10529285 | 3.1 MB | 42,019字符 |
D. NeRF / 隐式表示 SLAM
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| iMAP: Implicit Mapping and Positioning in Real-Time | 2021 | 9710431 | 3.3 MB | 41,540字符 |
| NICE-SLAM: Neural Implicit Scalable Encoding for SLAM | 2022 | 9878912 | 8.7 MB | 52,639字符 |
| Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation | 2022 | 9995035 | 2.1 MB | 53,109字符 |
| ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields | 2023 | 10205103 | 2.3 MB | 59,986字符 |
| 2023_Co-SLAM | 2023 | 10204198 | 2.4 MB | 47,068字符 |
| Point-SLAM: Dense Neural Point Cloud-based SLAM | 2023 | 10377819 | 10.5 MB | 63,233字符 |
| GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction | 2023 | 10378579 | 8.2 MB | 59,372字符 |
| 2023_NeRF-SLAM | 2023 | 10341922 | 0.8 MB | 46,597字符 |
| NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping | 2023 | 10377635 | 3.3 MB | 53,619字符 |
| Loopy-SLAM: Dense Neural SLAM with Loop Closures | 2024 | 10655306 | 3.5 MB | 65,018字符 |
E. 3D Gaussian Splatting SLAM
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| Gaussian Splatting SLAM | 2024 | 10657715 | 9.5 MB | 51,949字符 |
| SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM | 2024 | 10656349 | 0.8 MB | 55,669字符 |
| GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting | 2024 | 10657581 | 13.0 MB | 59,560字符 |
| Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras | 2024 | 10657868 | 9.7 MB | 56,563字符 |
| SNI-SLAM: Semantic Neural Implicit SLAM | 2024 | 10655425 | 1.5 MB | 52,991字符 |
| WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments | 2025 | 11094879 | 2.8 MB | 59,479字符 |
| Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians | 2025 | 11147480 | 5.4 MB | 63,614字符 |
F. 学习式前端 / 场景识别 / 特征匹配
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| SuperGlue: Learning Feature Matching with Graph Neural Networks | 2020 | 9157489 | 2.3 MB | 50,392字符 |
| LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM | 2022 | 9723505 | 9.5 MB | 106,708字符 |
| OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition | 2022 | 9785497 | 2.1 MB | 50,941字符 |
| LightGlue: Local Feature Matching at Light Speed | 2023 | 10377620 | 3.3 MB | 62,439字符 |
| Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM | 2024 | 10494918 | 7.9 MB | 133,023字符 |
G. 动态环境 / 语义
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| DynaSLAM: Tracking, Mapping, and Inpainting in Dynamic Scenes | 2018 | 8421015 | 3.1 MB | 45,260字符 |
H. 多机协同 SLAM
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams | 2020 | 8962967 | 2.6 MB | 50,951字符 |
| Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems | 2022 | 9686955 | 7.1 MB | 108,065字符 |
| DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization | 2022 | 9662965 | 2.6 MB | 56,343字符 |
| Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems | 2024 | 10321649 | 4.4 MB | 48,642字符 |
| D2SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm | 2024 | 10582478 | 7.9 MB | 144,068字符 |
I. 事件相机 / 新型传感器
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios | 2018 | 8258997 | 0.7 MB | 48,111字符 |
| DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions | 2022 | 9811805 | 4.4 MB | 45,358字符 |
| ESVIO: Event-Based Stereo Visual Inertial Odometry | 2023 | 10107754 | 6.7 MB | 50,799字符 |
J. 综述 / 评测 / 极端环境
| 论文 | 年份 | IEEE 编号 | 全文 md | |
|---|---|---|---|---|
| The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection | 2022 | 9780121 | 3.7 MB | 179,551字符 |
| Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping | 2023 | 9968057 | 2.4 MB | 41,385字符 |
| Deep Learning for Visual Localization and Mapping: A Survey | 2024 | 10260323 | 3.0 MB | 156,347字符 |
| A Survey of Visual SLAM in Dynamic Environment: The Evolution From Geometric to Semantic Approaches | 2024 | 10577209 | 2.8 MB | 123,952字符 |
| Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge | 2024 | 10286080 | 10.3 MB | 138,295字符 |
| 3D Gaussian Splatting as a New Era: A Survey | 2025 | 10521791 | 7.8 MB | 139,079字符 |
其他
- LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
合计 58 篇。
本页由
outputs/论文语料库总目录.md 预渲染生成。公式以 MathML 呈现，浏览器原生渲染，不依赖外部脚本或字体 CDN。