Awesome Open Source
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The Top 148 Slam Open Source Projects

Pythonrobotics ⭐ 12,765
Python sample codes for robotics algorithms.
Mvision ⭐ 5,768
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 ⭐ 5,576
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Slambook ⭐ 4,790
Deep Learning Interview Book ⭐ 3,158
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 ⭐ 2,959
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）
Openvslam ⭐ 2,943
OpenVSLAM: A Versatile Visual SLAM Framework
Recent_slam_research ⭐ 2,205
Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】
G2o ⭐ 1,936
g2o: A General Framework for Graph Optimization
Awesome Robotic Tooling ⭐ 1,676
Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace: https://freerobotics.tools/
Maplab ⭐ 1,647
An open visual-inertial mapping framework.
Evo ⭐ 1,562
Python package for the evaluation of odometry and SLAM
Rtabmap ⭐ 1,509
RTAB-Map library and standalone application
Awesome Visual Slam ⭐ 1,416
📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
Elasticfusion ⭐ 1,364
Real-time dense visual SLAM system
Lego Loam ⭐ 1,317
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
Awesome Robotics Libraries ⭐ 1,263
😎 A curated list of robotics libraries and software
Mrpt ⭐ 1,257
⚡️ The Mobile Robot Programming Toolkit (MRPT)
Lio Sam ⭐ 1,229
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
Loam_velodyne ⭐ 1,223
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
Hdl_graph_slam ⭐ 1,070
3D LIDAR-based Graph SLAM
A Loam ⭐ 1,033
Advanced implementation of LOAM
Gradslam ⭐ 929
gradslam is an open source differentiable dense SLAM library for PyTorch
Kimera ⭐ 924
Index repo for Kimera code
Open_vins ⭐ 916
An open source platform for visual-inertial navigation research.
Visual_slam_related_research ⭐ 893
视觉(语义) SLAM 相关研究跟踪
Kimera Vio ⭐ 837
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
Gms Feature Matcher ⭐ 835
GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)
Probabilistic_robotics ⭐ 776
solution of exercises of the book "probabilistic robotics"
Kintinuous ⭐ 766
Real-time large scale dense visual SLAM system
Turtlebot3 ⭐ 739
ROS packages for Turtlebot3
Teaser Plusplus ⭐ 727
A fast and robust point cloud registration library
Prometheus ⭐ 705
Open source software for autonomous drones.
Robotics Toolbox Matlab ⭐ 668
Robotics Toolbox for MATLAB
Manif ⭐ 649
A small C++11 header-only library for Lie theory.
Slam Book ⭐ 602
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。
Sfm Visual Slam ⭐ 588
Xivo ⭐ 581
X Inertial-aided Visual Odometry
Lio Mapping ⭐ 571
Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
Loam_noted ⭐ 523
loam code noted in Chinese（loam中文注解版）
Cube_slam ⭐ 509
CubeSLAM: Monocular 3D Object Detection and SLAM
Semantic_suma ⭐ 497
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
Icra2020 Paper List ⭐ 489
ICRA2020 paperlist by paopaorobot
Dynaslam ⭐ 469
DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups
Dynslam ⭐ 467
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.
Awesome Image Registration ⭐ 447
image registration related books, papers, videos, and toolboxes
Floam ⭐ 436
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
Vio Doc ⭐ 434
主流VIO论文推导及代码解析
Recent Stars 2021 ⭐ 431
🔥🔥🔥SLAM, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code
Comma2k19 ⭐ 426
A driving dataset for the development and validation of fused pose estimators and mapping algorithms
Maskfusion ⭐ 425
MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
Interactive_slam ⭐ 418
Interactive Map Correction for 3D Graph SLAM
Co Fusion ⭐ 410
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
Sc Lego Loam ⭐ 399
LiDAR SLAM: Scan Context + LeGO-LOAM
G2opy ⭐ 398
Python binding of SLAM graph optimization framework g2o
Visual Slam Roadmap ⭐ 385
Roadmap to becoming a Visual-SLAM developer in 2021
Semantic_slam ⭐ 359
Real time semantic slam in ROS with a hand held RGB-D camera
Overlapnet ⭐ 356
OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)
Zed Examples ⭐ 355
ZED SDK Example projects
Deep Learning Localization Mapping ⭐ 351
A collection of deep learning based localization models
Sparse To Dense.pytorch ⭐ 344
ICRA 2018 "Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image" (PyTorch Implementation)
Suma ⭐ 335
Surfel-based Mapping for 3d Laser Range Data (SuMa)
Orb_slam_2_ros ⭐ 330
A ROS implementation of ORB_SLAM2
Camlasercalibratool ⭐ 312
Extrinsic Calibration of a Camera and 2d Laser
Zed Ros Wrapper ⭐ 310
ROS wrapper for the ZED SDK
Se2lam ⭐ 308
(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
Stereo_ptam ⭐ 304
Python implementation of SLAM algorithm Stereo-PTAM
Iros2020 Paper List ⭐ 290
IROS2020 paperlist by paopaorobot
Awesome Slam ⭐ 288
A curated list of SLAM resources
Iscloam ⭐ 284
Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
Slam ⭐ 283
Source Live Audio Mixer
Minisam ⭐ 261
A general and flexible factor graph non-linear least square optimization framework
Lili Om ⭐ 258
LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
Resources ⭐ 255
Resources on various topics being worked on at IvLabs
Iris_lama ⭐ 245
LaMa - A Localization and Mapping library
Gvins ⭐ 239
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
Ssl_slam ⭐ 236
SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
Ssl_slam2 ⭐ 232
SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021
Iros2018 Slam Papers ⭐ 225
IROS2018 SLAM papers (ref from PaoPaoRobot)
Ov2slam ⭐ 224
OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
Iros2019 Paper List ⭐ 222
IROS2019 paper list from PaopaoRobot
Staticmapping ⭐ 217
Use LiDAR to map the static world
Mola ⭐ 216
A Modular Optimization framework for Localization and mApping (MOLA)
Pvio ⭐ 216
Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors
Hypharos_minicar ⭐ 214
1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
Kimera Vio Ros ⭐ 200
ROS wrapper for Kimera-VIO
Orb Slam2_with_semantic_label ⭐ 195
orb-slam2 with semantic label
Slambench ⭐ 194
SLAM performance evaluation framework
Superpoint_slam ⭐ 194
SuperPoint + ORB_SLAM2
Anms Codes ⭐ 188
Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
Visual Gps Slam ⭐ 187
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.
Awesome Ros Mobile Robot ⭐ 185
😎 A curated list of awesome mobile robots study resources based on ROS (including SLAM, odometry and navigation, manipulation)
Deepmatchvo ⭐ 184
Implementation of ICRA 2019 paper: Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation
Pangolin ⭐ 183
Python binding of 3D visualization library Pangolin
M Loam ⭐ 182
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Pyicp Slam ⭐ 179
Full-python LiDAR SLAM using ICP and Scan Context
Surfelwarp ⭐ 175
SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction
Pop_up_slam ⭐ 171
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Flame ⭐ 170
FLaME: Fast Lightweight Mesh Estimation
Puma ⭐ 170
Poisson Surface Reconstruction for LiDAR Odometry and Mapping
1-100 of 148 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