COLMAP - Structure-from-Motion and Multi-View Stereo

This repository contains a multi-fisheye camera SLAM. The underlying SLAM system is based on ORB-SLAM.

End-to-end SFM framework based on GTSAM

MonSter++: A Unified Geometric Foundation Model for Stereo and Multi-View Depth Estimation via the Unleashing of Monodepth Priors

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

ViPE: Video Pose Engine for Geometric 3D Perception

This repository provides a synchronized stereo matching pipeline using OAK cameras, generating RGB-D images with disparity-based depth and integrated IMU data. The output is fully compatible with R…

TAPIP3D: Tracking Any Point in Persistent 3D Geometry

A precise low-drift Visual-Inertial-Leg Odometry for legged robots

Visual-Inertial-Leg Odometry For Legged Robots

[ICRA 2025 Best Paper] MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry

📌 PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map [RSS' 25]

A curated list of SLAM resources

[CVPR 2025]MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM

[CVPR 2025] A unified framework for Scene Coordinate Regression-based visual localization

A large scale non-linear optimization library

LightGlue: Local Feature Matching at Light Speed (ICCV 2023)

Image-to-point cloud Registration Tool

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

Repository to generate in real-time Situational Graphs (S-Graphs) for robot pose and map optimization using 3D LiDAR Data

AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibration (ICCV 2025)

Affordance-based Robot Manipulation with Flow Matching

Release repo for our SLAM Handbook

A Comprehensive Framework for Visual SLAM Systems and Datasets

[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

A comprehensive list of Implicit Representations and NeRF papers relating to Robotics/RL domain, including papers, codes, and related websites

Code for LERF: Language Embedded Radiance Fields

[CVPR'24] Group Anything with Radiance Fields

Code for "Robot See Robot Do" presented at CoRL 2024!

Ultra fast 3D reconstruction and novel view synthesis.