pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.

slam place-recognition semantic-segmentation 3d-reconstruction depth-estimation visual-odometry feature-matching rgbd-slam instance-segmentation depth-prediction loop-closure local-features semantic-mapping global-features scene-understanding volumetric-reconstruction stereo-slam semantic-understanding gaussian-splatting end-to-end-reconstruction

• Updated Oct 25, 2026
• Python

OpenVSLAM: A Versatile Visual SLAM Framework

computer-vision robotics vr panorama slam fisheye visual-slam visual-odometry vslam

• Updated Feb 25, 2021

An unsupervised learning framework for depth and ego-motion estimation from monocular videos

deep-learning unsupervised-learning visual-odometry depth-prediction self-supervised-learning

• Updated Oct 26, 2021
• Jupyter Notebook

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

visual-odometry lidar-odometry

• Updated Dec 17, 2022
• C++

An Invitation to 3D Vision: A Tutorial for Everyone

opencv camera-calibration bundle-adjustment 3d-reconstruction 3d-vision visual-geometry geometric-vision visual-slam visual-odometry image-rectification

• Updated Nov 11, 2026
• CMake

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM

localization robotics gpu ros perception slam jetson ros2 visual-odometry ros2-humble

• Updated Sep 22, 2026
• C++

[TRO 2025] AirVO upgrades to AirSLAM

slam odometry visual-slam visual-odometry superpoint superglue

• Updated Nov 19, 2025
• C++

Robotics with GPU computing

python robotics gpu voxel cuda pathfinding point-cloud collision-detection ros registration gpgpu distance-transform odometry jetson pybind11 visual-odometry occupancy-grid-map triangle-mesh

• Updated Jun 25, 2026
• C++

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

computer-vision visual-odometry slam-algorithms

• Updated Nov 24, 2025
• Python

[CoRL 21'] TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo

slam 3d-reconstruction visual-odometry multiview-stereo

• Updated Dec 29, 2022
• C++

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

gps triangulation imu sensor-fusion place-recognition image-retrieval feature-tracking pose-estimation visual-odometry wheel-encoders relocalization visual-localization wheel-odometry line-feature

• Updated Oct 28, 2020

augmented-reality sfm awesome-list slam visual-odometry visual-inertial

• Updated Apr 28, 2024

Unsupervised Scale-consistent Depth Learning from Video (IJCV2021 & NeurIPS 2019)

depth-estimation visual-odometry kitti nyuv2-dataset sc-sfmlearner

• Updated Sep 5, 2022
• Python

Depth and Flow for Visual Odometry

optical-flow depth-estimation visual-odometry self-supervised-learning icra2020

• Updated Nov 28, 2023
• Python

Educational/research monocular visual odometry implementation with ORB features, initialization, tracking, local mapping, and bundle adjustment in C++.

opencv tracking cpp eigen g2o visual-odometry initialization slambook monocular-slam local-mapping

• Updated Nov 9, 2023
• C++

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"

localization robotics mapping augmented-reality slam visual-odometry

• Updated Jul 27, 2026
• C++

Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction

caffe computer-vision deep-learning cvpr depth-estimation 3d-vision visual-odometry

• Updated Nov 10, 2020
• Python

ROS 2 wrapper for the ZED SDK

robotics point-cloud object-detection slam stereo-vision ros2 skeleton-tracking visual-odometry zed-camera spatial-mapping ros2-wrapper

• Updated Nov 2, 2026
• C++

EndoSLAM Dataset and an Unsupervised Monocular Visual Odometry and Depth Estimation Approach for Endoscopic Videos: Endo-SfMLearner

pose-estimation visual-odometry monocular-depth-estimation capsule-endoscopy slam-dataset

• Updated Jun 21, 2022
• Python

A bunch of state estimation algorithms

slam state-estimation vio msckf odometry visual-odometry slam-algorithms slam-algorithm state-estimation-algorithms

• Updated May 18, 2024
• C++