Visual SLAM
OKVIS: Open Keyframe-based Visual-Inertial SLAM
http://ethz-asl.github.io/okvis/index.html
Uncertainty-aware Receding Horizon Exploration and Mapping Planner
https://github.com/unr-arl/rhem_planner
S-PTAM: Stereo Parallel Tracking and Mapping
mcptam
MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig.
https://github.com/aharmat/mcptam
FAB-MAP
visual place recognition algorithm https://github.com/arrenglover/openfabmap
rat-SLAM
https://github.com/davidmball/ratslam
maplab
An Open Framework for Research in Visual-inertial Mapping and Localization https://github.com/ethz-asl/maplab from Roland Siegwart
RGB-D Visual SLAM
Fast Odometry and Scene Flow from RGB-D Cameras
https://github.com/MarianoJT88/Joint-VO-SF published in ICRA 2017
Real-Time Appearance-Based Mapping
http://wiki.ros.org/rtabmap_ros ... Many Demos are available in the website with Several ROS bags
general and scalable framework for visual SLAM
https://github.com/strasdat/ScaViSLAM/
https://github.com/felixendres/rgbdslam_v2 ROS ready, It accompany a PHD thesis from TUM
SLAM in unstructed environments
https://github.com/tu-darmstadt-ros-pkg/hector_slam
Dense Visual Odometry and SLAM (dvo_slam)
https://github.com/tum-vision/dvo_slam
Coslam: Collaborative visual slam in dynamic environments
https://github.com/danping/CoSLAM
Real-time dense visual SLAM system : ElasticFusion
https://github.com/mp3guy/ElasticFusion ... it has nice gui and dataset , paper and video too .
Real-time dense visual SLAM
https://github.com/mp3guy/Kintinuous
Deferred Triangulation SLAM
Based on PTAM and SLAM track 3d traingulated and 2d non triangulated features . https://github.com/plumonito/dtslam
Dense RGBD slam
https://github.com/dorian3d/RGBiD-SLAM
M2SLAM: Visual SLAM with Memory Management for large-scale Environments
https://github.com/lifunudt/M2SLAM
SceneLib2 - MonoSLAM open-source library
from oxford university c++ SLAM
https://github.com/hanmekim/SceneLib2
next best view planner
https://github.com/ethz-asl/nbvplanner
Dynamic RGB-D Encoder SLAM for a Differential-Drive Robot
https://github.com/ydsf16/dre_slam ROS kinetic, openCV 4.0, yolo v3, Ceres
Augmented Reality
PTAM (Parallel Tracking and Mapping) :
http://www.robots.ox.ac.uk/~gk/PTAM/
PTAM Android :
https://github.com/damienfir/android-ptam
Monocular SLAM
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
https://github.com/raulmur/ORB_SLAM ....
its modification : ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras https://github.com/raulmur/ORB_SLAM2
its modification to work on IOS : https://github.com/Thunderbolt-sx/ORB_SLAM_iOS
REMODE (REgularized MOnocular Depth Estimation)
https://github.com/uzh-rpg/rpg_open_remode ... Probabilistic, Monocular Dense Reconstruction in Real Time
Fast Semi-Direct Monocular Visual Odometry
https://github.com/pizzoli/rpg_svo
Fast Semi-Direct Visual Odometry for Monocular, Wide Angle, and Multi-camera Systems
no loop closure or bundle adjustment http://rpg.ifi.uzh.ch/svo2.html
LSD-SLAM: Large-Scale Direct Monocular SLAM
https://github.com/tum-vision/lsd_slam
modification over the original package to work with rolling chatter camera ( cheap webcams) https://github.com/FirefoxMetzger/lsd_slam The change is mentioned in this video : https://www.youtube.com/watch?v=TZRICW6R24o
ROS wrapper for visolib
https://github.com/srv/viso2 It is supported till ROS-indigo.
Visual-Inertia-fusion-based Monocular dEnse mAppiNg
https://github.com/HKUST-Aerial-Robotics/VI-MEAN with paper and video ICRA 2017.
monocular object pose SLAM
https://github.com/shichaoy/cube_slam
LIDAR based
LIMO: Lidar-Monocular Visual Odometry
https://github.com/johannes-graeter/limo Virtual machine with all the dependencies is ready.
LiDAR-based real-time 3D localization and mapping
https://github.com/erik-nelson/blam
segmatch
https://github.com/ethz-asl/segmatch A 3D segment based loop-closure algorithm | ROS ready
Visual Odometry
Dense Sparse odometry
https://github.com/JakobEngel/dso
monocular odometry algorithm
https://github.com/alejocb/dpptam Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence IROS 2015
Stereo Visual odometry
https://github.com/rubengooj/StVO-PL Stereo Visual Odometry by combining point and line segment features
Monocular Motion Estimation on Manifolds
https://github.com/johannes-graeter/momo
Visual Inertial odometry
Kalibr
IMU camera calibration toolbox and more. https://github.com/ethz-asl/kalibr
Camera-to-IMU calibration toolbox https://github.com/hovren/crisp
ROVIO
Robust Visual Inertial Odometry https://github.com/ethz-asl/rovio
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
https://github.com/KumarRobotics/msckf_vio
A Robust and Versatile Monocular Visual-Inertial State Estimator
https://github.com/HKUST-Aerial-Robotics/VINS-Mono
Realtime Edge Based Inertial Visual Odometry for a Monocular Camera
https://github.com/JuanTarrio/rebvo Specially targetted to embedded hardware.
robocentric visual-inertial odometry
https://github.com/rpng/R-VIO Monocular camera + 6 DOF IMU
SFM
Structure from Motion (SfM) for Unordered Image Collections
https://github.com/TheFrenchLeaf/Bundle
Android SFM
https://github.com/danylaksono/Android-SfM-client
Five Point , 6,7,8 algorithms
open geometrical vision https://github.com/marknabil/opengv
openSFM
Structure from Motion library written in Python on top of OpenCV. It has dockerfile for all installation on ubuntu 14.04 https://github.com/mapillary/OpenSfM
Unsupervised Learning of Depth and Ego-Motion from Video
An unsupervised learning framework for depth and ego-motion estimation from monocular videos https://github.com/tinghuiz/SfMLearner
CVPR 2015 Tutorial for open source SFM
Source material for the CVPR 2015 Tutorial: Open Source Structure-from-Motion https://github.com/mleotta/cvpr2015-opensfm
Unsupervised Learning of Depth and Ego-Motion from Video
https://github.com/tinghuiz/SfMLearner
concepts in matlab
http://vis.uky.edu/~stewe/FIVEPOINT/
SFMedu: A Matlab-based Structure-from-Motion System for Education https://github.com/jianxiongxiao/SFMedu
Lorenzo Torresani's Structure from Motion Matlab code https://github.com/scivision/em-sfm
https://github.com/vrabaud/sfm_toolbox
OpenMVG C++ library https://github.com/openMVG/openMVG
collection of computer vision methods for solving geometric vision problems https://github.com/laurentkneip/opengv
Multiview Geometry Library in C++11
Quaternion Based Camera Pose Estimation From Matched Feature Points
https://sites.google.com/view/kavehfathian/code its paper : https://arxiv.org/pdf/1704.02672.pdf
Others :
Volumetric 3D Mapping in Real-Time on a CPU
https://github.com/tum-vision/fastfusion
SLAM with IMU on Android
https://github.com/knagara/SLAMwithCameraIMUforAndroid
IOS iphone 7 plus
https://github.com/HKUST-Aerial-Robotics/VINS-Mobile
Matlab
with some good documentation to how to read the image and so on from the kinect . https://github.com/AutoSLAM/SLAM
Datasets and benchmarking
Curated List of datasets:
https://github.com/youngguncho/awesome-slam-datasets
EuRoC MAV Dataset
http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth.
TUM VI Benchmark for Evaluating Visual-Inertial Odometry
https://vision.in.tum.de/data/datasets/visual-inertial-dataset different scenes for evaluating VI odometry
Authentic Dataset for Visual-Inertial Odometry
https://github.com/AaltoVision/ADVIO
challenging Visual Inertial Odometry benchmark
https://daniilidis-group.github.io/penncosyvio/ from Pennsylvania, published in ICRA2017
ICL NIUM
https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html benchmarking RGB-D, Visual Odometry and SLAM algorithms
Benchmarking Pose Estimation Algorithms
https://sites.google.com/view/kavehfathian/code/benchmarking-pose-estimation-algorithms
Toolbox for quantitative trajectory evaluation of VO/VIO
https://github.com/uzh-rpg/rpg_trajectory_evaluation
Photorealistic Simulator for VIO testing/benchmarking
https://github.com/mit-fast/FlightGoggles
Machine Learning/ Deep learning based
Learning monocular visual odometry with dense 3D mapping from dense 3D flow
DeepVO: A Deep Learning approach for Monocular Visual Odometry
Survey papers and articles
Imperial college ICCV 2015 workshop
Deep Auxiliary Learning for Visual Localization and Odometry
follow :
Robotics and Perception Group
TUM VISION
handheld AR
http://studierstube.icg.tugraz.at/handheld_ar/cityofsights.php
Another Curated list
for SFM, 3D reconstruction and V-SLAM https://github.com/openMVG/awesome_3DReconstruction_list