Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM.

A collection of GTSAM factors and optimizers for point cloud SLAM

GPU-Accelerated Tracking for ORB-SLAM3

Statistical Uncertainty Learning for Robust Visual-Inertial State Estimation

C++ implementation of our paper "P3P Made Easy"

A Comprehensive Framework for Visual SLAM Systems and Datasets

Ultralytics YOLO 🚀

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

A curated list of development tools, datasets, pipelines, and benchmarks to serve as a future reference for the research community

DaD's a pretty good keypoint detector, probably the best.

Depth Pro: Sharp Monocular Metric Depth in Less Than a Second.

Python3 / PyTorch implementation of the following paper: Fine-grained Semantics-aware Representation Enhancement for Self-supervisedMonocular Depth Estimation. ICCV 2021 (oral)

📖[IEEE Sensors Journal (JSEN) ] SuperVINS: A Real-Time Visual-Inertial SLAM Framework for Challenging Imaging Conditions (integrated deep learning features)

CTMD: Compile-Time Multi-Dimensional matrix library

[CVPR 2025 Highlight] MATCHA: Towards Matching Anything.

Real-time SLAM with deep features (XFeat + ORB-SLAM3)

3D Gaussian Splatting (3DGS) on fisheye cameras

Real-time Radar SLAM: ORORA + ScanContext

CPP Implementation of "LightGlue: Local Feature Matching at Light Speed"

Visual localization made easy with hloc

OpenXRLab Visual-inertial SLAM Toolbox and Benchmark

Platform for Deep Learning based SLAM

OpenXRLab Visual Localization Toolbox and Server

[CVPR 2023] SFD2: Semantic-guided Feature Detection and Description. Embedding semantics into local features implicitly for long-term visual localization