The Top 117 Slam Open Source Projects

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The Top 117 Slam Open Source Projects

Categories > Artificial Intelligence > Slam

Pythonrobotics ⭐10,494

Python sample codes for robotics algorithms.

Cartographer ⭐5,218

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Mvision ⭐4,996

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

Slambook ⭐4,218

Openvslam ⭐2,694

OpenVSLAM: A Versatile Visual SLAM Framework

Ai Job Notes ⭐2,489

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）

Deep Learning Interview Book ⭐2,179

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）

Recent_slam_research ⭐1,807

Track Advancement of SLAM 跟踪SLAM前沿动态【2020 version】

g2o: A General Framework for Graph Optimization

Maplab ⭐1,482

An open visual-inertial mapping framework.

Rtabmap ⭐1,231

RTAB-Map library and standalone application

Awesome Visual Slam ⭐1,227

📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers

Elasticfusion ⭐1,224

Real-time dense visual SLAM system

Python package for the evaluation of odometry and SLAM

Awesome Robotic Tooling ⭐1,166

Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace

⚡️ The Mobile Robot Programming Toolkit (MRPT)

Loam_velodyne ⭐1,048

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

Awesome Robotics Libraries ⭐1,046

😎 A curated list of robotics libraries and software

Lego Loam ⭐967

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

Hdl_graph_slam ⭐830

3D LIDAR-based Graph SLAM

Advanced implementation of LOAM

Gms Feature Matcher ⭐736

GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)

Kintinuous ⭐709

Real-time large scale dense visual SLAM system

Open_vins ⭐675

An open source platform for visual-inertial navigation research.

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Probabilistic_robotics ⭐645

solution of exercises of the book "probabilistic robotics"

Kimera Vio ⭐643

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Index repo for Kimera code

Turtlebot3 ⭐568

ROS packages for Turtlebot3

X Inertial-aided Visual Odometry

Robotics Toolbox Matlab ⭐530

Robotics Toolbox for MATLAB

Sfm Visual Slam ⭐525

Visual_slam_related_research ⭐473

视觉(语义) SLAM 相关研究跟踪

Lio Mapping ⭐464

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

Teaser Plusplus ⭐437

A fast and robust point cloud registration library

Cube_slam ⭐420

CubeSLAM: Monocular 3D Object Detection and SLAM

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.

Slam Book ⭐413

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400页左右，书稿每章对应的代码也会被整理出来。

A small c++11 header-only library for Lie theory.

Loam_noted ⭐395

loam code noted in Chinese（loam中文注解版）

Co Fusion ⭐384

Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

Dynaslam ⭐367

DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups

Maskfusion ⭐353

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

Semantic_suma ⭐353

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

Comma2k19 ⭐351

A driving dataset for the development and validation of fused pose estimators and mapping algorithms

主流VIO论文推导及代码解析

Icra2020 Paper List ⭐330

ICRA2020 paperlist by paopaorobot

Recent Stars 2020 ⭐325

🔥🔥🔥SLAM, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

Sparse To Dense.pytorch ⭐318

ICRA 2018 "Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image" (PyTorch Implementation)

Python binding of SLAM graph optimization framework g2o

Interactive_slam ⭐308

Interactive Map Correction for 3D Graph SLAM

Zed Examples ⭐293

ZED SDK Example projects

Surfel-based Mapping for 3d Laser Range Data (SuMa)

Semantic_slam ⭐269

Real time semantic slam in ROS with a hand held RGB-D camera

Awesome Image Registration ⭐259

image registration related books, papers, videos, and toolboxes

Stereo_ptam ⭐258

Python implementation of SLAM algorithm Stereo-PTAM

Source Live Audio Mixer

Zed Ros Wrapper ⭐251

ROS wrapper for the ZED SDK

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

Orb_slam_2_ros ⭐243

A ROS implementation of ORB_SLAM2

Prometheus ⭐234

Open source software for autonomous drones.

Camlasercalibratool ⭐233

Extrinsic Calibration of a Camera and 2d Laser

Sc Lego Loam ⭐233

LiDAR SLAM: Scan Context + LeGO-LOAM

Overlapnet ⭐227

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

A general and flexible factor graph non-linear least square optimization framework

Iros2018 Slam Papers ⭐220

IROS2018 SLAM papers (ref from PaoPaoRobot)

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM)

Awesome Slam ⭐210

A curated list of SLAM resources

Iros2019 Paper List ⭐197

IROS2019 paper list from PaopaoRobot

Deep Learning Localization Mapping ⭐191

A collection of deep learning based localization models

A Modular Optimization framework for Localization and mApping (MOLA)

Slambench2 ⭐177

SLAM performance evaluation framework

Deepmatchvo ⭐171

Implementation of ICRA 2019 paper: Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation

Hypharos_minicar ⭐166

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller

Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors

Visual Gps Slam ⭐162

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.

Staticmapping ⭐158

Use LiDAR to map the static world

FLaME: Fast Lightweight Mesh Estimation

Orb Slam2_with_semantic_label ⭐155

orb-slam2 with semantic label

Pop_up_slam ⭐154

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments

Iris_lama ⭐151

LaMa - A Localization and Mapping library

Kimera Vio Ros ⭐149

ROS wrapper for Kimera-VIO

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020

Resources ⭐145

Resources on various topics being worked on at IvLabs

Arcoreinsideouttrackinggearvr ⭐141

Inside Out Positional Tracking (6DoF) for GearVR/Cardboard/Daydream using ARCore v1.6.0

Anms Codes ⭐137

Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution

Pangolin ⭐134

Python binding of 3D visualization library Pangolin

Pyicp Slam ⭐128

Full-python LiDAR SLAM using ICP and Scan Context

Vi_orb_slam2 ⭐127

Monocular/Stereo Visual-Inertial ORB-SLAM based on ORB-SLAM2

Surfelwarp ⭐126

SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction

Superpoint_slam ⭐119

SuperPoint + ORB_SLAM2

Aruco_ekf_slam ⭐114

ArUco-based EKF-SLAM.

SE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision (IEEE Transactions on Cybernetics 2019)

Dre_slam ⭐106

RGB-D Encoder SLAM for a Differential-Drive Robot in Dynamic Environments

Easy_slam_tutorial ⭐105

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

Dl Vision Papers ⭐103

深度学习和三维视觉相关的论文

Orb Slam2 Based Ar On Android ⭐95

This is a Android Augmented Reality APP based on ORB-SLAM2 and OpenGL，which can work well on both outdoor and indoor environments

Learn 视觉slam十四讲

Intelligent place recognition module for vins-fusion

Eval Vislam ⭐87

Toolkit for VI-SLAM evaluation.

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