SFM-AR-Visual-SLAM

Visual SLAM

GSLAM

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. https://github.com/zdzhaoyong/GSLAM

OKVIS: Open Keyframe-based Visual-Inertial SLAM

http://ethz-asl.github.io/okvis/index.html

Uncertainty-aware Receding Horizon Exploration and Mapping Planner

https://github.com/unr-arl/rhem_planner

S-PTAM: Stereo Parallel Tracking and Mapping

https://github.com/lrse/sptam

mcptam

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.

https://github.com/aharmat/mcptam

FAB-MAP

visual place recognition algorithm https://github.com/arrenglover/openfabmap

maplab

An Open Framework for Research in Visual-inertial Mapping and Localization https://github.com/ethz-asl/maplab from Roland Siegwart

OpenVSLAM: Versatile Visual SLAM Framework

https://github.com/xdspacelab/openvslam

SLAM with Apriltag

https://github.com/berndpfrommer/tagslam ROS ready, bag file available

SE2 SLAM fusing odom and Vision

https://github.com/izhengfan/se2clam

RGB-D Visual SLAM

Fast Odometry and Scene Flow from RGB-D Cameras

https://github.com/MarianoJT88/Joint-VO-SF published in ICRA 2017

Real-Time Appearance-Based Mapping

http://wiki.ros.org/rtabmap_ros … Many Demos are available in the website with Several ROS bags

general and scalable framework for visual SLAM

https://github.com/strasdat/ScaViSLAM/

https://github.com/felixendres/rgbdslam_v2 ROS ready, It accompany a PHD thesis from TUM

Dense Visual Odometry and SLAM (dvo_slam)

https://github.com/tum-vision/dvo_slam

Coslam: Collaborative visual slam in dynamic environments

https://github.com/danping/CoSLAM

Real-time dense visual SLAM system : ElasticFusion

https://github.com/mp3guy/ElasticFusion … it has nice gui and dataset , paper and video too .

Real-time dense visual SLAM

https://github.com/mp3guy/Kintinuous

Deferred Triangulation SLAM

Based on PTAM and SLAM track 3d traingulated and 2d non triangulated features . https://github.com/plumonito/dtslam

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

https://github.com/lifunudt/M2SLAM

SceneLib2 - MonoSLAM open-source library

from oxford university c++ SLAM
 https://github.com/hanmekim/SceneLib2

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

https://github.com/ydsf16/dre_slam ROS kinetic, openCV 4.0, yolo v3, Ceres

DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes

https://github.com/BertaBescos/DynaSLAM

Augmented Reality

PTAM (Parallel Tracking and Mapping) :

http://www.robots.ox.ac.uk/~gk/PTAM/

PTAM Android :

https://github.com/damienfir/android-ptam

Monocular SLAM

ORB-SLAM: A Versatile and Accurate Monocular SLAM System

https://github.com/raulmur/ORB_SLAM ….

its modification : ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras https://github.com/raulmur/ORB_SLAM2

its modification to work on IOS : https://github.com/Thunderbolt-sx/ORB_SLAM_iOS

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

https://github.com/UZ-SLAMLab/ORB_SLAM3

REMODE (REgularized MOnocular Depth Estimation)

https://github.com/uzh-rpg/rpg_open_remode … Probabilistic, Monocular Dense Reconstruction in Real Time

Fast Semi-Direct Monocular Visual Odometry

https://github.com/pizzoli/rpg_svo

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

no loop closure or bundle adjustment http://rpg.ifi.uzh.ch/svo2.html

LSD-SLAM: Large-Scale Direct Monocular SLAM

https://github.com/tum-vision/lsd_slam

modification over the original package to work with rolling chatter camera ( cheap webcams) https://github.com/FirefoxMetzger/lsd_slam The change is mentioned in this video : https://www.youtube.com/watch?v=TZRICW6R24o

ROS wrapper for visolib

https://github.com/srv/viso2 It is supported till ROS-indigo.

Visual-Inertia-fusion-based Monocular dEnse mAppiNg

https://github.com/HKUST-Aerial-Robotics/VI-MEAN with paper and video ICRA 2017 , rosbag as well.

monocular object pose SLAM

https://github.com/shichaoy/cube_slam

LIDAR based

LIMO: Lidar-Monocular Visual Odometry

https://github.com/johannes-graeter/limo Virtual machine with all the dependencies is ready.

LiDAR-based real-time 3D localization and mapping

https://github.com/erik-nelson/blam

segmatch

https://github.com/ethz-asl/segmatch A 3D segment based loop-closure algorithm | ROS ready

LIO-SAM

https://github.com/TixiaoShan/LIO-SAM real-time lidar-inertial odometry

Visual Odometry

Dense Sparse odometry

https://github.com/JakobEngel/dso

monocular odometry algorithm

https://github.com/alejocb/dpptam Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence IROS 2015

Stereo Visual odometry

https://github.com/rubengooj/StVO-PL Stereo Visual Odometry by combining point and line segment features

Monocular Motion Estimation on Manifolds

https://github.com/johannes-graeter/momo

Visual Odometry Revisited: What Should Be Learnt?

paper + pytorch code: https://github.com/Huangying-Zhan/DF-VO

SimVODIS Simultaneous Visual Odometry, Object Detection, and Instance Segmentation

https://github.com/Uehwan/SimVODIS

Visual Inertial odometry

Kalibr

IMU camera calibration toolbox and more. https://github.com/ethz-asl/kalibr

Camera-to-IMU calibration toolbox https://github.com/hovren/crisp

ROVIO

Robust Visual Inertial Odometry https://github.com/ethz-asl/rovio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

https://github.com/KumarRobotics/msckf_vio

A Robust and Versatile Monocular Visual-Inertial State Estimator

https://github.com/HKUST-Aerial-Robotics/VINS-Mono

VINS modification for omnidirectional + Streo camera

https://github.com/gaowenliang/vins_so

Realtime Edge Based Inertial Visual Odometry for a Monocular Camera

https://github.com/JuanTarrio/rebvo Specially targetted to embedded hardware.

robocentric visual-inertial odometry

https://github.com/rpng/R-VIO Monocular camera + 6 DOF IMU

SFM

Structure from Motion (SfM) for Unordered Image Collections

https://github.com/TheFrenchLeaf/Bundle

Five Point , 6,7,8 algorithms

open geometrical vision https://github.com/marknabil/opengv

openSFM

Structure from Motion library written in Python on top of OpenCV. It has dockerfile for all installation on ubuntu 14.04 https://github.com/mapillary/OpenSfM

Unsupervised Learning of Depth and Ego-Motion from Video

An unsupervised learning framework for depth and ego-motion estimation from monocular videos https://github.com/tinghuiz/SfMLearner

CVPR 2015 Tutorial for open source SFM

Source material for the CVPR 2015 Tutorial: Open Source Structure-from-Motion https://github.com/mleotta/cvpr2015-opensfm

Unsupervised Learning of Depth and Ego-Motion from Video

https://github.com/tinghuiz/SfMLearner

concepts in matlab

http://vis.uky.edu/~stewe/FIVEPOINT/

SFMedu: A Matlab-based Structure-from-Motion System for Education https://github.com/jianxiongxiao/SFMedu

Lorenzo Torresani’s Structure from Motion Matlab code https://github.com/scivision/em-sfm

https://github.com/vrabaud/sfm_toolbox

OpenMVG C++ library https://github.com/openMVG/openMVG

collection of computer vision methods for solving geometric vision problems https://github.com/laurentkneip/opengv

Multiview Geometry Library in C++11

http://theia-sfm.org/

Quaternion Based Camera Pose Estimation From Matched Feature Points

https://sites.google.com/view/kavehfathian/code its paper : https://arxiv.org/pdf/1704.02672.pdf

Mapping

Volumetric 3D Mapping in Real-Time on a CPU

https://github.com/tum-vision/fastfusion

Others :

Matlab

with some good documentation to how to read the image and so on from the kinect . https://github.com/AutoSLAM/SLAM

Datasets and benchmarking

Curated List of datasets:

https://github.com/youngguncho/awesome-slam-datasets

EuRoC MAV Dataset

http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

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

https://vision.in.tum.de/data/datasets/visual-inertial-dataset different scenes for evaluating VI odometry

Authentic Dataset for Visual-Inertial Odometry

https://github.com/AaltoVision/ADVIO

challenging Visual Inertial Odometry benchmark

https://daniilidis-group.github.io/penncosyvio/ from Pennsylvania, published in ICRA2017

ICL NIUM

https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html benchmarking RGB-D, Visual Odometry and SLAM algorithms

Toolbox for quantitative trajectory evaluation of VO/VIO

https://github.com/uzh-rpg/rpg_trajectory_evaluation

Photorealistic Simulator for VIO testing/benchmarking

https://github.com/mit-fast/FlightGoggles

follow :

Robotics and Perception Group

https://github.com/tum-vision

Another Curated list

for SFM, 3D reconstruction and V-SLAM https://github.com/openMVG/awesome_3DReconstruction_list