Awesome Open Source
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The Top 140 Slam Open Source Projects

Pythonrobotics ⭐ 12,265
Python sample codes for robotics algorithms.
Mvision ⭐ 5,583
机器人视觉 移动机器人 VS-SLAM ORB-SLAM2 深度学习目标检测 yolov3 行为检测 opencv PCL 机器学习 无人驾驶
Cartographer ⭐ 5,498
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Slambook ⭐ 4,647
Openvslam ⭐ 2,947
OpenVSLAM: A Versatile Visual SLAM Framework
Deep Learning Interview Book ⭐ 2,939
深度学习面试宝典（含数学、机器学习、深度学习、计算机视觉、自然语言处理和SLAM等方向）
Ai Job Notes ⭐ 2,827
AI算法岗求职攻略（涵盖准备攻略、刷题指南、内推和AI公司清单等资料）
Recent_slam_research ⭐ 2,118
Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】
G2o ⭐ 1,887
g2o: A General Framework for Graph Optimization
Maplab ⭐ 1,613
An open visual-inertial mapping framework.
Awesome Robotic Tooling ⭐ 1,584
Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace: https://freerobotics.tools/
Evo ⭐ 1,464
Python package for the evaluation of odometry and SLAM
Rtabmap ⭐ 1,430
RTAB-Map library and standalone application
Awesome Visual Slam ⭐ 1,370
📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
Elasticfusion ⭐ 1,329
Real-time dense visual SLAM system
Mrpt ⭐ 1,225
⚡️ The Mobile Robot Programming Toolkit (MRPT)
Lego Loam ⭐ 1,222
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
Awesome Robotics Libraries ⭐ 1,216
😎 A curated list of robotics libraries and software
Loam_velodyne ⭐ 1,177
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
Lio Sam ⭐ 1,082
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
Hdl_graph_slam ⭐ 998
3D LIDAR-based Graph SLAM
A Loam ⭐ 940
Advanced implementation of LOAM
Gradslam ⭐ 896
gradslam is an open source differentiable dense SLAM library for PyTorch
Kimera ⭐ 871
Index repo for Kimera code
Open_vins ⭐ 855
An open source platform for visual-inertial navigation research.
Gms Feature Matcher ⭐ 814
GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)
Kimera Vio ⭐ 790
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
Visual_slam_related_research ⭐ 777
视觉(语义) SLAM 相关研究跟踪
Probabilistic_robotics ⭐ 754
solution of exercises of the book "probabilistic robotics"
Kintinuous ⭐ 750
Real-time large scale dense visual SLAM system
Turtlebot3 ⭐ 702
ROS packages for Turtlebot3
Teaser Plusplus ⭐ 673
A fast and robust point cloud registration library
Robotics Toolbox Matlab ⭐ 630
Robotics Toolbox for MATLAB
Manif ⭐ 587
A small C++11 header-only library for Lie theory.
Prometheus ⭐ 575
Open source software for autonomous drones.
Sfm Visual Slam ⭐ 568
Xivo ⭐ 565
X Inertial-aided Visual Odometry
Slam Book ⭐ 553
这是一本关于SLAM的书稿，希望能清楚的介绍SLAM系统中的使用的几何方法和深度学习方法。书稿最后应该会达到200页左右，书稿每章对应的代码也会被整理出来。
Lio Mapping ⭐ 546
Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
Cube_slam ⭐ 487
CubeSLAM: Monocular 3D Object Detection and SLAM
Loam_noted ⭐ 483
loam code noted in Chinese（loam中文注解版）
Semantic_suma ⭐ 462
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
Icra2020 Paper List ⭐ 456
ICRA2020 paperlist by paopaorobot
Dynslam ⭐ 455
Master's Thesis on Simultaneous Localization and Mapping in dynamic environments. Separately reconstructs both the static environment and the dynamic objects from it, such as cars.
Dynaslam ⭐ 446
DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups
Maskfusion ⭐ 418
MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
Vio Doc ⭐ 413
主流VIO论文推导及代码解析
Recent Stars 2021 ⭐ 408
🔥🔥🔥SLAM, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code
Co Fusion ⭐ 407
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
Comma2k19 ⭐ 406
A driving dataset for the development and validation of fused pose estimators and mapping algorithms
Awesome Image Registration ⭐ 405
image registration related books, papers, videos, and toolboxes
Interactive_slam ⭐ 390
Interactive Map Correction for 3D Graph SLAM
G2opy ⭐ 376
Python binding of SLAM graph optimization framework g2o
Floam ⭐ 375
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM)
Sc Lego Loam ⭐ 363
LiDAR SLAM: Scan Context + LeGO-LOAM
Semantic_slam ⭐ 343
Real time semantic slam in ROS with a hand held RGB-D camera
Zed Examples ⭐ 340
ZED SDK Example projects
Sparse To Dense.pytorch ⭐ 337
ICRA 2018 "Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image" (PyTorch Implementation)
Deep Learning Localization Mapping ⭐ 329
A collection of deep learning based localization models
Visual Slam Roadmap ⭐ 326
Roadmap to becoming a Visual-SLAM developer in 2021
Overlapnet ⭐ 322
OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)
Suma ⭐ 320
Surfel-based Mapping for 3d Laser Range Data (SuMa)
Orb_slam_2_ros ⭐ 318
A ROS implementation of ORB_SLAM2
Se2lam ⭐ 300
(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
Camlasercalibratool ⭐ 296
Extrinsic Calibration of a Camera and 2d Laser
Zed Ros Wrapper ⭐ 292
ROS wrapper for the ZED SDK
Stereo_ptam ⭐ 290
Python implementation of SLAM algorithm Stereo-PTAM
Slam ⭐ 281
Source Live Audio Mixer
Iscloam ⭐ 266
Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
Iros2020 Paper List ⭐ 264
IROS2020 paperlist by paopaorobot
Minisam ⭐ 254
A general and flexible factor graph non-linear least square optimization framework
Awesome Slam ⭐ 248
A curated list of SLAM resources
Iris_lama ⭐ 235
LaMa - A Localization and Mapping library
Lili Om ⭐ 226
LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
Iros2018 Slam Papers ⭐ 224
IROS2018 SLAM papers (ref from PaoPaoRobot)
Iros2019 Paper List ⭐ 218
IROS2019 paper list from PaopaoRobot
Mola ⭐ 209
A Modular Optimization framework for Localization and mApping (MOLA)
Hypharos_minicar ⭐ 206
1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
Pvio ⭐ 205
Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors
Ssl_slam2 ⭐ 202
SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021
Staticmapping ⭐ 197
Use LiDAR to map the static world
Orb Slam2_with_semantic_label ⭐ 192
orb-slam2 with semantic label
Kimera Vio Ros ⭐ 190
ROS wrapper for Kimera-VIO
Slambench2 ⭐ 188
SLAM performance evaluation framework
Anms Codes ⭐ 182
Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
Visual Gps Slam ⭐ 182
This is a repo for my master thesis research about the Fusion of Visual SLAM and GPS. It contains the research paper, code and other interesting data.
Deepmatchvo ⭐ 181
Implementation of ICRA 2019 paper: Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation
Superpoint_slam ⭐ 176
SuperPoint + ORB_SLAM2
Ssl_slam ⭐ 176
SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
Pangolin ⭐ 175
Python binding of 3D visualization library Pangolin
Ov2slam ⭐ 170
OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
Flame ⭐ 168
FLaME: Fast Lightweight Mesh Estimation
Resources ⭐ 167
Resources on various topics being worked on at IvLabs
Pop_up_slam ⭐ 164
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Pyicp Slam ⭐ 164
Full-python LiDAR SLAM using ICP and Scan Context
Surfelwarp ⭐ 156
SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction
Aruco_ekf_slam ⭐ 153
ArUco-based EKF-SLAM.
Arcoreinsideouttrackinggearvr ⭐ 150
Inside Out Positional Tracking (6DoF) for GearVR/Cardboard/Daydream using ARCore v1.6.0
Easy_slam_tutorial ⭐ 146
首个中文的简单从零开始实现视觉SLAM理论与实践教程，使用Python实现。包括：ORB特征点提取，对极几何，视觉里程计后端优化，实时三维重建地图。A easy SLAM practical tutorial (Python).图像处理、otsu二值化。更多其他教程我的CSDN博客
Awesome Ros Mobile Robot ⭐ 145
😎 A curated list of awesome mobile robots study resources based on ROS (including SLAM, odometry and navigation, manipulation)
1-100 of 140 projects
Advertising 📦 10
All Projects
Application Programming Interfaces 📦 124
Applications 📦 192
Artificial Intelligence 📦 78
Blockchain 📦 73
Build Tools 📦 113
Cloud Computing 📦 80
Code Quality 📦 28
Collaboration 📦 32
Command Line Interface 📦 49
Community 📦 83
Companies 📦 60
Compilers 📦 63
Computer Science 📦 80
Configuration Management 📦 42
Content Management 📦 175
Control Flow 📦 213
Data Formats 📦 78
Data Processing 📦 276
Data Storage 📦 135
Economics 📦 64
Frameworks 📦 215
Games 📦 129
Graphics 📦 110
Hardware 📦 152
Integrated Development Environments 📦 49
Learning Resources 📦 166
Legal 📦 29
Libraries 📦 129
Lists Of Projects 📦 22
Machine Learning 📦 347
Mapping 📦 64
Marketing 📦 15
Mathematics 📦 55
Media 📦 239
Messaging 📦 98
Networking 📦 315
Operating Systems 📦 89
Operations 📦 121
Package Managers 📦 55
Programming Languages 📦 245
Runtime Environments 📦 100
Science 📦 42
Security 📦 396
Social Media 📦 27
Software Architecture 📦 72
Software Development 📦 72
Software Performance 📦 58
Software Quality 📦 133
Text Editors 📦 49
Text Processing 📦 136
User Interface 📦 330
User Interface Components 📦 514
Version Control 📦 30
Virtualization 📦 71
Web Browsers 📦 42
Web Servers 📦 26
Web User Interface 📦 210