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Awesome Open Source



Visual SLAM


General SLAM Framework which supports feature based or direct method and different sensors including monocular camera, RGB-D sensors or any other input types can be handled.

OKVIS: Open Keyframe-based Visual-Inertial SLAM

Uncertainty-aware Receding Horizon Exploration and Mapping Planner

S-PTAM: Stereo Parallel Tracking and Mapping


MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig.


visual place recognition algorithm



An Open Framework for Research in Visual-inertial Mapping and Localization from Roland Siegwart

OpenVSLAM: Versatile Visual SLAM Framework

SLAM with Apriltag ROS ready, bag file available

SE2 SLAM fusing odom and Vision


Fast Odometry and Scene Flow from RGB-D Cameras published in ICRA 2017

Real-Time Appearance-Based Mapping ... Many Demos are available in the website with Several ROS bags

general and scalable framework for visual SLAM ROS ready, It accompany a PHD thesis from TUM

SLAM in unstructed environments

Dense Visual Odometry and SLAM (dvo_slam)

Coslam: Collaborative visual slam in dynamic environments

Real-time dense visual SLAM system : ElasticFusion ... it has nice gui and dataset , paper and video too .

Real-time dense visual SLAM

Deferred Triangulation SLAM

Based on PTAM and SLAM track 3d traingulated and 2d non triangulated features .

Dense RGBD slam

M2SLAM: Visual SLAM with Memory Management for large-scale Environments

SceneLib2 - MonoSLAM open-source library

from oxford university c++ SLAM

next best view planner

Dynamic RGB-D Encoder SLAM for a Differential-Drive Robot ROS kinetic, openCV 4.0, yolo v3, Ceres

DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes

Augmented Reality

PTAM (Parallel Tracking and Mapping) :

PTAM Android :

Monocular SLAM

ORB-SLAM: A Versatile and Accurate Monocular SLAM System ....

its modification : ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras

its modification to work on IOS :

ORB-SLAM3 An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

REMODE (REgularized MOnocular Depth Estimation) ... Probabilistic, Monocular Dense Reconstruction in Real Time

Fast Semi-Direct Monocular Visual Odometry

Fast Semi-Direct Visual Odometry for Monocular, Wide Angle, and Multi-camera Systems

no loop closure or bundle adjustment

LSD-SLAM: Large-Scale Direct Monocular SLAM

modification over the original package to work with rolling chatter camera ( cheap webcams) The change is mentioned in this video :

ROS wrapper for visolib It is supported till ROS-indigo.

Visual-Inertia-fusion-based Monocular dEnse mAppiNg with paper and video ICRA 2017 , rosbag as well.

monocular object pose SLAM

DeepFactors: Real-Time Probabilistic Dense Monocular SLAM

LIDAR based

LIMO: Lidar-Monocular Visual Odometry Virtual machine with all the dependencies is ready.

LiDAR-based real-time 3D localization and mapping

segmatch A 3D segment based loop-closure algorithm | ROS ready

LIO-SAM real-time lidar-inertial odometry

Visual Odometry

Dense Sparse odometry

monocular odometry algorithm Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence IROS 2015

Stereo Visual odometry Stereo Visual Odometry by combining point and line segment features

Monocular Motion Estimation on Manifolds

Visual Odometry Revisited: What Should Be Learnt?

paper + pytorch code:

SimVODIS Simultaneous Visual Odometry, Object Detection, and Instance Segmentation

Visual Inertial odometry


IMU camera calibration toolbox and more.

Camera-to-IMU calibration toolbox


Robust Visual Inertial Odometry

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

A Robust and Versatile Monocular Visual-Inertial State Estimator

VINS modification for omnidirectional + Streo camera

Realtime Edge Based Inertial Visual Odometry for a Monocular Camera Specially targetted to embedded hardware.

robocentric visual-inertial odometry Monocular camera + 6 DOF IMU


Structure from Motion (SfM) for Unordered Image Collections

Android SFM

Five Point , 6,7,8 algorithms

open geometrical vision


Structure from Motion library written in Python on top of OpenCV. It has dockerfile for all installation on ubuntu 14.04

Unsupervised Learning of Depth and Ego-Motion from Video

An unsupervised learning framework for depth and ego-motion estimation from monocular videos

CVPR 2015 Tutorial for open source SFM

Source material for the CVPR 2015 Tutorial: Open Source Structure-from-Motion

Unsupervised Learning of Depth and Ego-Motion from Video

concepts in matlab

SFMedu: A Matlab-based Structure-from-Motion System for Education

Lorenzo Torresani's Structure from Motion Matlab code

OpenMVG C++ library

collection of computer vision methods for solving geometric vision problems

Multiview Geometry Library in C++11

Quaternion Based Camera Pose Estimation From Matched Feature Points its paper :


Direct Sparse Mapping

Volumetric 3D Mapping in Real-Time on a CPU

Others :

SLAM with IMU on Android

IOS iphone 7 plus


with some good documentation to how to read the image and so on from the kinect .

Datasets and benchmarking

Curated List of datasets:

EuRoC MAV Dataset

visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth.

TUM VI Benchmark for Evaluating Visual-Inertial Odometry different scenes for evaluating VI odometry

Authentic Dataset for Visual-Inertial Odometry

challenging Visual Inertial Odometry benchmark from Pennsylvania, published in ICRA2017

ICL NIUM benchmarking RGB-D, Visual Odometry and SLAM algorithms

Benchmarking Pose Estimation Algorithms

alt text

Toolbox for quantitative trajectory evaluation of VO/VIO

Photorealistic Simulator for VIO testing/benchmarking

Machine Learning/ Deep learning based

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

DeepVO: A Deep Learning approach for Monocular Visual Odometry

Survey papers and articles

Survey with year,sensor used and best practice

RGBD ROS SLAM comparison

SLAM past present and future

Imperial college ICCV 2015 workshop

Deep Auxiliary Learning for Visual Localization and Odometry

follow :

Robotics and Perception Group


handheld AR

Another Curated list

for SFM, 3D reconstruction and V-SLAM

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