KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Windows version of ORB-SLAM3.

Tightly-Coupled Lidar Inertial Odometry

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

Lidar Localization and Mapping

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.

A ROS implementation of ORB_SLAM2

[ICCV 2025] MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motion

Calibrate the extrinsic parameters between Livox LiDAR and camera

A light-weighted local greedy exploration planner based on line-of-sight visibility in LiDAR point clouds.

DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration

[ICRA 2025] Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion

[TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM

Symbolic Continuous-Time Gaussian Belief Propagation Framework with Ceres Interoperability

Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.

[RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras

A Large-Scale Indoor-Outdoor Robot Dataset for Multi-Sensor Fusion Navigation and Mapping

Direct Sparse Odometry

A General-Purpose Trajectory Optimizer for Multicopters

A panoramic direct LiDAR-assisted visual odometry

SLAM-Former: Putting SLAM into One Transformer

[TFR25] A Continuous-time Multi-LiDAR Odometry

Vahana VR & VideoStitch Studio: software to create immersive 360° VR video, live and in post-production

A highly robust and accurate LiDAR-only, LiDAR-inertial odometry

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation