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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.
| Date | Stars |
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| 2026-07-24 | 3379 |
| 2026-07-25 | 3380 |
| 2026-07-28 | 3380 |
| 2026-07-30 | 3380 |
| 2026-08-06 | 3380 |
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<p align="center"><img src="./images/pyslam-logo.png" height="160"></p>
# pySLAM v2.10.6
Author: **[Luigi Freda](https://www.luigifreda.com)**
**pySLAM** is a hybrid **python/C++** implementation of a *Visual SLAM* pipeline (Simultaneous Localization And Mapping) that supports **monocular**, **stereo** and **RGBD** cameras. It provides the following features in a **single python environment**:
- A wide range of classical and modern **[local features](#supported-local-features)** with a convenient interface for their integration.
- Multiple loop closing methods, including **[descriptor aggregators](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** such as visual Bag of Words (*BoW*, *iBow*), Vector of Locally Aggregated Descriptors (*VLAD*) and modern **[global descriptors](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** (image-wise descriptors such as *SAD*, *NetVLAD*, *HDC-Delf*, *CosPlace*, *EigenPlaces*, *Megaloc*).
- A **[volumetric reconstruction pipeline](#volumetric-reconstruction)** that processes depth and color images using volumetric integration to produce dense reconstructions. It supports different voxel grid models (with semantic support) and **TSDF** with voxel hashing, and incremental **Gaussian Splatting**.
- Integration of **[depth prediction models](#depth-prediction)** within the SLAM pipeline. These include *DepthPro*, *DepthAnythingV2*, *DepthAnythingV3*, *RAFT-Stereo*, *CREStereo*, etc.
- A suite of segmentation models for **[semantic understanding](#semantic-mapping-and-image-segmentation)** of the scene, such as *DeepLabv3*, *Segformer*, *CLIP*, *DETIC*, *EOV-SEG*, *ODISE*, *RFDETR*, *YOLO*, etc.
- Additional tools for VO (Visual Odometry) and SLAM, with built-in support for both **g2o** and **GTSAM**, along with custom Python bindings for features not available in the original libraries.
- A modular **sparse-SLAM core**, implemented in **both Python and C++** (with custom pybind11 bindings), allowing users to switch between _high-performance/speed_ and _high-flexibility_ modes. The Python and C++ implementations are interoperable: maps saved by one can be loaded by the other. Further details [here](pyslam/slam/cpp/README.md).
- A modular pipeline for **end-to-end inference of 3D scenes from multiple images**. Supports models like *DUSt3R*, *Mast3r*, *MV-DUSt3R*, *VGGT*, *Robust VGGT*, *DepthFromAnythingV3*, and *Fast3R*. Further details [here](pyslam/scene_from_views/README.md).
- Built-in support for over **[10 dataset types](#datasets)**.
pySLAM serves as a flexible baseline framework to experiment with VO/SLAM techniques, *[local features](#supported-local-features)*, *[descriptor aggregators](#supported-global-descriptors-and-local-descriptor-aggregation-methods)*, *[global descriptors](#supported-global-descriptors-and-local-descriptor-aggregation-methods)*, *[volumetric integration](#volumetric-reconstruction-pipeline)*, *[depth prediction](#depth-prediction)* and *[semantic mapping](#semantic-mapping)*. It allows to explore, prototype and develop VO/SLAM pipelines both in Python and C++. pySLAM is a research framework and a work in progress.
**Enjoy it!**
<p align="center">
<img src="./images/pyslam.gif" alt="pySLAM - Stereo mapping example" height="320">
</p>
<p align="center">
<img src="./images/depth-prediction.png" alt="pySLAM - Depth prediction" height="160">
<img src="./images/dense-reconstruction-with-depth-prediction.png" alt="pySLAM - Depth prediction and 3D Reconstruction" height="160">
</p>
<p align="center">
<img src="./images/semantic_mapping.png" alt="pySLAM - Semantic Mapping" height="160">
</p>
<p align="center">
<img src="./images/dense-reconstruction-composition.gif"
alt="pySLAM - Dense reconstruction - Gaussian Splatting"
height="320">
</p>
See the demo **video** for release v2.10.0
<p align="center">
<a href="https://www.youtube.com/watch?v=jzwKByzyqzg" target="_blank" rel="noopener Excerpt of 84,671 characters
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:552cf73ddf7ded38, topic:gaussian-splatting, topic:3d-reconstruction, readme:image segmentation
matched fp:552cf73ddf7ded38, topic:slam, desc:slam, readme:slam