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

rat-SLAM

https://github.com/davidmball/ratslam

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

SLAM in unstructed environments

https://github.com/tu-darmstadt-ros-pkg/hector_slam

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

Dense RGBD slam

https://github.com/dorian3d/RGBiD-SLAM

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

next best view planner

https://github.com/ethz-asl/nbvplanner

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

DeepFactors: Real-Time Probabilistic Dense Monocular SLAM

https://github.com/jczarnowski/DeepFactors?fbclid=IwAR3tMyM_VisfjADs5pX3OHoxSU6w6MorupmvXZDr8c9m2MWLObdcnlBNNpg

ORB-SLAM RGBD + Inertial

https://github.com/xiefei2929/ORB_SLAM3-RGBD-Inertial

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

UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping | ICRA'22 https://github.com/url-kaist/UV-SLAM

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

Modality-invariant Visual Odometry for Embodied Vision

RGB only OR RGB + Depth https://memmelma.github.io/vot/

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

Android SFM

https://github.com/danylaksono/Android-SfM-client

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

Deep Permutation Equivariant Structure from Motion

https://github.com/drormoran/Equivariant-SFM

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

Direct Sparse Mapping

https://github.com/jzubizarreta/dsm

Volumetric 3D Mapping in Real-Time on a CPU

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

Others :

SLAM with IMU on Android

https://github.com/knagara/SLAMwithCameraIMUforAndroid

IOS iphone 7 plus

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

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

igibson

simulation environment providing fast visual rendering and physics simulation based on Bullet https://svl.stanford.edu/igibson/

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

Benchmarking Pose Estimation Algorithms

https://sites.google.com/view/kavehfathian/code/benchmarking-pose-estimation-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

Machine Learning/ Deep learning based

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

DeepVO: A Deep Learning approach for Monocular Visual Odometry

Survey papers and articles

Survey with year,sensor used and best practice

RGBD ROS SLAM comparison

SLAM past present and future

Imperial college ICCV 2015 workshop

Deep Auxiliary Learning for Visual Localization and Odometry

follow :

Robotics and Perception Group

https://github.com/tum-vision

TUM VISION

https://github.com/uzh-rpg

handheld AR

http://studierstube.icg.tugraz.at/handheld_ar/cityofsights.php

Another Curated list

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