slam

ROS packages for Turtlebot3

Real-time dense visual SLAM system

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

A curated list of radar datasets, detection, tracking and fusion

A small C++11 header-only library for Lie theory.

GLIM: versatile and extensible point cloud-based 3D localization and mapping framework

Roadmap to become a Visual-SLAM developer in 2026

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

Fast symbolic computation, code generation, and nonlinear optimization for robotics

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

A library for differentiable robotics on manifolds.

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

image registration related books, papers, videos, and toolboxes

Photogrammetry Guide. Photogrammetry is widely used for Aerial surveying, Agriculture, Architecture, 3D Games, Robotics, Archaeology, Construction, Emergency management, and Medical.

🎓Automatically Update CV Papers Daily using Github Actions

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM

😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276

⚡️The spatial perception framework for rapidly building smart robots and spaces

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO, CT-ICP, GenZ-ICP, iG-LIO, SR-LIO application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)

[TRO 2025] AirVO upgrades to AirSLAM

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold

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。

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.