# 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。

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> 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 | PDF | 全文 md |
|---|---|---|---|---|
| LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain | 2018 | [8594299](https://ieeexplore.ieee.org/document/8594299) | 4.4 MB | 50,260字符 |
| Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map | 2018 | [8593953](https://ieeexplore.ieee.org/document/8593953) | 4.5 MB | 40,066字符 |
| LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping | 2020 | [9341176](https://ieeexplore.ieee.org/document/9341176) | 4.6 MB | 47,098字符 |
| FAST-LIO2: Fast Direct LiDAR-Inertial Odometry | 2022 | [9697912](https://ieeexplore.ieee.org/document/9697912) | 6.3 MB | 139,471字符 |
| Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels | 2022 | [9718203](https://ieeexplore.ieee.org/document/9718203) | 9.5 MB | 44,535字符 |
| Direct LiDAR Odometry: Fast Localization With Dense Point Clouds | 2022 | [9681177](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/10015694) | 1.6 MB | 54,103字符 |
| iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry | 2024 | [10380742](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/10582536) | 7.0 MB | 145,850字符 |

## B. 视觉 / 视觉惯性 SLAM

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras | 2017 | [7946260](https://ieeexplore.ieee.org/document/7946260) | 0.8 MB | 44,433字符 |
| Direct Sparse Odometry | 2018 | [7898369](https://ieeexplore.ieee.org/document/7898369) | 2.6 MB | 87,332字符 |
| VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator | 2018 | [8421746](https://ieeexplore.ieee.org/document/8421746) | 5.9 MB | 100,034字符 |
| OpenVINS: A Research Platform for Visual-Inertial Estimation | 2020 | [9196524](https://ieeexplore.ieee.org/document/9196524) | 0.6 MB | 49,793字符 |
| Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping | 2020 | [9196885](https://ieeexplore.ieee.org/document/9196885) | 4.2 MB | 51,954字符 |
| DM-VIO: Delayed Marginalization Visual-Inertial Odometry | 2022 | [9669044](https://ieeexplore.ieee.org/document/9669044) | 2.7 MB | 51,613字符 |
| GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation | 2022 | [9667780](https://ieeexplore.ieee.org/document/9667780) | 10.1 MB | 100,792字符 |
| Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments | 2023 | [9866888](https://ieeexplore.ieee.org/document/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 | PDF | 全文 md |
|---|---|---|---|---|
| FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry | 2022 | [9981107](https://ieeexplore.ieee.org/document/9981107) | 1.6 MB | 46,568字符 |
| FAST-LIVO2: Fast, Direct LiDAR–Inertial–Visual Odometry | 2025 | [10757429](https://ieeexplore.ieee.org/document/10757429) | 13.2 MB | 132,058字符 |
| LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-Time 3D Radiance Field Map Rendering | 2024 | [10529285](https://ieeexplore.ieee.org/document/10529285) | 3.1 MB | 42,019字符 |

## D. NeRF / 隐式表示 SLAM

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| iMAP: Implicit Mapping and Positioning in Real-Time | 2021 | [9710431](https://ieeexplore.ieee.org/document/9710431) | 3.3 MB | 41,540字符 |
| NICE-SLAM: Neural Implicit Scalable Encoding for SLAM | 2022 | [9878912](https://ieeexplore.ieee.org/document/9878912) | 8.7 MB | 52,639字符 |
| Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation | 2022 | [9995035](https://ieeexplore.ieee.org/document/9995035) | 2.1 MB | 53,109字符 |
| ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields | 2023 | [10205103](https://ieeexplore.ieee.org/document/10205103) | 2.3 MB | 59,986字符 |
| 2023_Co-SLAM | 2023 | [10204198](https://ieeexplore.ieee.org/document/10204198) | 2.4 MB | 47,068字符 |
| Point-SLAM: Dense Neural Point Cloud-based SLAM | 2023 | [10377819](https://ieeexplore.ieee.org/document/10377819) | 10.5 MB | 63,233字符 |
| GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction | 2023 | [10378579](https://ieeexplore.ieee.org/document/10378579) | 8.2 MB | 59,372字符 |
| 2023_NeRF-SLAM | 2023 | [10341922](https://ieeexplore.ieee.org/document/10341922) | 0.8 MB | 46,597字符 |
| NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping | 2023 | [10377635](https://ieeexplore.ieee.org/document/10377635) | 3.3 MB | 53,619字符 |
| Loopy-SLAM: Dense Neural SLAM with Loop Closures | 2024 | [10655306](https://ieeexplore.ieee.org/document/10655306) | 3.5 MB | 65,018字符 |

## E. 3D Gaussian Splatting SLAM

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| Gaussian Splatting SLAM | 2024 | [10657715](https://ieeexplore.ieee.org/document/10657715) | 9.5 MB | 51,949字符 |
| SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM | 2024 | [10656349](https://ieeexplore.ieee.org/document/10656349) | 0.8 MB | 55,669字符 |
| GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting | 2024 | [10657581](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/10657868) | 9.7 MB | 56,563字符 |
| SNI-SLAM: Semantic Neural Implicit SLAM | 2024 | [10655425](https://ieeexplore.ieee.org/document/10655425) | 1.5 MB | 52,991字符 |
| WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments | 2025 | [11094879](https://ieeexplore.ieee.org/document/11094879) | 2.8 MB | 59,479字符 |
| Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians | 2025 | [11147480](https://ieeexplore.ieee.org/document/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 | PDF | 全文 md |
|---|---|---|---|---|
| SuperGlue: Learning Feature Matching with Graph Neural Networks | 2020 | [9157489](https://ieeexplore.ieee.org/document/9157489) | 2.3 MB | 50,392字符 |
| LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM | 2022 | [9723505](https://ieeexplore.ieee.org/document/9723505) | 9.5 MB | 106,708字符 |
| OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition | 2022 | [9785497](https://ieeexplore.ieee.org/document/9785497) | 2.1 MB | 50,941字符 |
| LightGlue: Local Feature Matching at Light Speed | 2023 | [10377620](https://ieeexplore.ieee.org/document/10377620) | 3.3 MB | 62,439字符 |
| Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM | 2024 | [10494918](https://ieeexplore.ieee.org/document/10494918) | 7.9 MB | 133,023字符 |

## G. 动态环境 / 语义

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| DynaSLAM: Tracking, Mapping, and Inpainting in Dynamic Scenes | 2018 | [8421015](https://ieeexplore.ieee.org/document/8421015) | 3.1 MB | 45,260字符 |

## H. 多机协同 SLAM

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams | 2020 | [8962967](https://ieeexplore.ieee.org/document/8962967) | 2.6 MB | 50,951字符 |
| Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems | 2022 | [9686955](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/9662965) | 2.6 MB | 56,343字符 |
| Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems | 2024 | [10321649](https://ieeexplore.ieee.org/document/10321649) | 4.4 MB | 48,642字符 |
| D<sup>2</sup>SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm | 2024 | [10582478](https://ieeexplore.ieee.org/document/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 | PDF | 全文 md |
|---|---|---|---|---|
| Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios | 2018 | [8258997](https://ieeexplore.ieee.org/document/8258997) | 0.7 MB | 48,111字符 |
| DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions | 2022 | [9811805](https://ieeexplore.ieee.org/document/9811805) | 4.4 MB | 45,358字符 |
| ESVIO: Event-Based Stereo Visual Inertial Odometry | 2023 | [10107754](https://ieeexplore.ieee.org/document/10107754) | 6.7 MB | 50,799字符 |

## J. 综述 / 评测 / 极端环境

| 论文 | 年份 | IEEE 编号 | PDF | 全文 md |
|---|---|---|---|---|
| The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection | 2022 | [9780121](https://ieeexplore.ieee.org/document/9780121) | 3.7 MB | 179,551字符 |
| Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping | 2023 | [9968057](https://ieeexplore.ieee.org/document/9968057) | 2.4 MB | 41,385字符 |
| Deep Learning for Visual Localization and Mapping: A Survey | 2024 | [10260323](https://ieeexplore.ieee.org/document/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](https://ieeexplore.ieee.org/document/10577209) | 2.8 MB | 123,952字符 |
| Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge | 2024 | [10286080](https://ieeexplore.ieee.org/document/10286080) | 10.3 MB | 138,295字符 |
| 3D Gaussian Splatting as a New Era: A Survey | 2025 | [10521791](https://ieeexplore.ieee.org/document/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

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合计 **58** 篇。