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The Top 663 Slam Open Source Projects on Github

Pythonrobotics ⭐ 13,746
Python sample codes for robotics algorithms.
Mvision ⭐ 5,784
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 ⭐ 5,622
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Slambook ⭐ 4,519
Deep Learning Interview Book ⭐ 3,526
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）
Openvslam ⭐ 2,952
OpenVSLAM: A Versatile Visual SLAM Framework
Ai Job Notes ⭐ 2,579
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 ⭐ 2,309
Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】
G2o ⭐ 2,027
g2o: A General Framework for Graph Optimization
Awesome Robotic Tooling ⭐ 1,823
Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.
Maplab ⭐ 1,704
An open visual-inertial mapping framework.
Rtabmap ⭐ 1,643
RTAB-Map library and standalone application
Evo ⭐ 1,639
Python package for the evaluation of odometry and SLAM
Awesome Visual Slam ⭐ 1,448
📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
Lego Loam ⭐ 1,402
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
Lio Sam ⭐ 1,346
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
Mrpt ⭐ 1,335
⚡️ The Mobile Robot Programming Toolkit (MRPT)
Awesome Robotics Libraries ⭐ 1,327
😎 A curated list of robotics libraries and software
Hdl_graph_slam ⭐ 1,139
3D LIDAR-based Graph SLAM
Elasticfusion ⭐ 1,137
Real-time dense visual SLAM system
Open_vins ⭐ 973
An open source platform for visual-inertial navigation research.
Awesome Robotic Tooling ⭐ 929
Tools for professional robotic development in C++ and Python with a touch of autonomous driving and aerospace
Loam_velodyne ⭐ 909
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
Gradslam ⭐ 903
gradslam is an open source differentiable dense SLAM library for PyTorch
Prometheus ⭐ 903
Open source software for autonomous drones.
Kimera Vio ⭐ 871
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
Visual_slam_related_research ⭐ 822
视觉(语义) SLAM 相关研究跟踪
Turtlebot3 ⭐ 760
ROS packages for Turtlebot3
Kimera ⭐ 736
Index repo for Kimera code
Teaser Plusplus ⭐ 731
A fast and robust point cloud registration library
Manif ⭐ 703
A small C++11 header-only library for Lie theory.
Gms Feature Matcher ⭐ 670
GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)
Kintinuous ⭐ 664
Real-time large scale dense visual SLAM system
Sfm Visual Slam ⭐ 610
Xivo ⭐ 594
X Inertial-aided Visual Odometry
Probabilistic_robotics ⭐ 580
solution of exercises of the book "probabilistic robotics"
Slam Book ⭐ 570
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。
A Loam ⭐ 570
Advanced implementation of LOAM
Robotics Toolbox Matlab ⭐ 514
Robotics Toolbox for MATLAB
Semantic_suma ⭐ 513
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
Dynslam ⭐ 472
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.
Interactive_slam ⭐ 443
Interactive Map Correction for 3D Graph SLAM
Cube_slam ⭐ 429
CubeSLAM: Monocular 3D Object Detection and SLAM
Recent Stars 2021 ⭐ 418
🔥🔥🔥SLAM, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code
Co Fusion ⭐ 414
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
Floam ⭐ 412
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
Awesome Image Registration ⭐ 404
image registration related books, papers, videos, and toolboxes
Overlapnet ⭐ 396
OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)
Comma2k19 ⭐ 393
A driving dataset for the development and validation of fused pose estimators and mapping algorithms
Zed Examples ⭐ 379
ZED SDK Example projects
Lio Mapping ⭐ 372
Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
Orb_slam_2_ros ⭐ 336
A ROS implementation of ORB_SLAM2
Deep Learning Localization Mapping ⭐ 329
A collection of deep learning based localization models
Zed Ros Wrapper ⭐ 326
ROS wrapper for the ZED SDK
Maskfusion ⭐ 318
MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
Loam_noted ⭐ 316
loam code noted in Chinese（loam中文注解版）
Dynaslam ⭐ 314
DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups
Resources ⭐ 284
Resources on various topics being worked on at IvLabs
Sparse To Dense.pytorch ⭐ 283
ICRA 2018 "Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image" (PyTorch Implementation)
R3live ⭐ 267
A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
Cpprobotics ⭐ 266
Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
Iris_lama ⭐ 262
LaMa - A Localization and Mapping library
Gvins ⭐ 260
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
G2opy ⭐ 259
Python binding of SLAM graph optimization framework g2o
Se2lam ⭐ 257
(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
Sc Lego Loam ⭐ 256
LiDAR SLAM: Scan Context + LeGO-LOAM
Awesome Slam ⭐ 248
A curated list of SLAM resources
Slam ⭐ 236
Source Live Audio Mixer
Iscloam ⭐ 231
Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
Minisam ⭐ 230
A general and flexible factor graph non-linear least square optimization framework
Vio Doc ⭐ 230
主流VIO论文推导及代码解析
Suma ⭐ 229
Surfel-based Mapping for 3d Laser Range Data (SuMa)
Stereo_ptam ⭐ 227
Python implementation of SLAM algorithm Stereo-PTAM
Mola ⭐ 223
A Modular Optimization framework for Localization and mApping (MOLA)
Semantic_slam ⭐ 220
Real time semantic slam in ROS with a hand held RGB-D camera
Camlasercalibratool ⭐ 211
Extrinsic Calibration of a Camera and 2d Laser
Ov2slam ⭐ 206
OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
Lili Om ⭐ 204
LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
Slambench ⭐ 203
SLAM performance evaluation framework
Iros2019 Paper List ⭐ 203
IROS2019 paper list from PaopaoRobot
Iros2018 Slam Papers ⭐ 203
IROS2018 SLAM papers (ref from PaoPaoRobot)
Kimera Vio Ros ⭐ 200
ROS wrapper for Kimera-VIO
Staticmapping ⭐ 196
Use LiDAR to map the static world
Anms Codes ⭐ 194
Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
Lidar Mos ⭐ 191
Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data (RAL/IROS 2021)
Awesome Ros Mobile Robot ⭐ 188
😎 A curated list of awesome mobile robots study resources based on ROS (including SLAM, odometry and navigation, manipulation)
Visual Gps Slam ⭐ 184
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.
Icra2020 Paper List ⭐ 182
ICRA2020 paperlist by paopaorobot
Surfelwarp ⭐ 179
SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction
Tandem ⭐ 178
[CoRL 21'] TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo
Pyicp Slam ⭐ 177
Full-python LiDAR SLAM using ICP and Scan Context
Ssl_slam ⭐ 174
SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
Urbannavdataset ⭐ 169
UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong
Superpoint_slam ⭐ 169
SuperPoint + ORB_SLAM2
Hypharos_minicar ⭐ 163
1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
Pangolin ⭐ 159
Python binding of 3D visualization library Pangolin
Deepmatchvo ⭐ 156
Implementation of ICRA 2019 paper: Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation
Imu_x_fusion ⭐ 150
IMU + X(GNSS, VO) Loose Fusion Localization based on ESKF
Iros2020 Paper List ⭐ 150
IROS2020 paperlist by paopaorobot
Visual Slam Roadmap ⭐ 149
Roadmap to becoming a Visual-SLAM developer in 2021
1-100 of 663 projects

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Advertising 📦 9
All Projects
Application Programming Interfaces 📦 120
Applications 📦 181
Artificial Intelligence 📦 72
Blockchain 📦 70
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Code Quality 📦 28
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Command Line Interface 📦 48
Community 📦 81
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Compilers 📦 60
Computer Science 📦 74
Configuration Management 📦 39
Content Management 📦 167
Control Flow 📦 197
Data Formats 📦 77
Data Processing 📦 266
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Economics 📦 60
Frameworks 📦 198
Games 📦 122
Graphics 📦 103
Hardware 📦 148
Integrated Development Environments 📦 47
Learning Resources 📦 147
Legal 📦 28
Libraries 📦 119
Lists Of Projects 📦 21
Machine Learning 📦 336
Mapping 📦 61
Marketing 📦 15
Mathematics 📦 55
Media 📦 228
Messaging 📦 97
Networking 📦 304
Operating Systems 📦 84
Operations 📦 120
Package Managers 📦 52
Programming Languages 📦 229
Runtime Environments 📦 96
Science 📦 42
Security 📦 375
Social Media 📦 26
Software Architecture 📦 70
Software Development 📦 68
Software Performance 📦 57
Software Quality 📦 127
Text Editors 📦 45
Text Processing 📦 131
User Interface 📦 310
User Interface Components 📦 465
Version Control 📦 29
Virtualization 📦 68
Web Browsers 📦 38
Web Servers 📦 25
Web User Interface 📦 194
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