Top AI Repos — open-source AI, indexed and scored
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Real-time dense visual SLAM system
| Date | Stars |
|---|---|
| 2026-07-24 | 1927 |
| 2026-07-25 | 1927 |
| 2026-07-28 | 1927 |
| 2026-07-30 | 1927 |
| 2026-08-06 | 1927 |
Today
— stars today
This week
— stars this week
This month
— stars this month
Momentum
0.0
growth rate 0.00%/day
# ElasticFusion #
Real-time dense visual SLAM system capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera.
# Related Publications #
Please cite this work if you make use of our system in any of your own endeavors:
* **[ElasticFusion: Real-Time Dense SLAM and Light Source Estimation](http://www.thomaswhelan.ie/Whelan16ijrr.pdf)**, *T. Whelan, R. F. Salas-Moreno, B. Glocker, A. J. Davison and S. Leutenegger*, IJRR '16
* **[ElasticFusion: Dense SLAM Without A Pose Graph](http://thomaswhelan.ie/Whelan15rss.pdf)**, *T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison*, RSS '15
# 1. What do I need to build it? #
## 1.1. Ubuntu ##
Ubuntu 22.04 on Xorg, NVIDIA drivers 510.73.05, CUDA driver 11.6, CUDA toolkit 11.5 (essentially whatever is in the Ubuntu repos).
```bash
sudo apt install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-11-jdk freeglut3-dev libglew-dev libsuitesparse-dev zlib1g-dev libjpeg-dev
```
```bash
git clone https://github.com/mp3guy/ElasticFusion.git
cd ElasticFusion/
git submodule update --init
cd third-party/OpenNI2/
make -j8
cd ../Pangolin/
mkdir build
cd build
cmake .. -DEIGEN_INCLUDE_DIR=$HOME/ElasticFusion/third-party/Eigen/ -DBUILD_PANGOLIN_PYTHON=false
make -j8
cd ../../..
mkdir build
cd build/
cmake ..
```
# 2. How do I use it? #
There are two subprojects in the repo:
* The *Core* is the main engine which builds into a shared library that you can link into other projects and treat like an API.
* The *Tools* where the graphical interface used to run the system on either live sensor data or a logged data file lives.
The executable (*ElasticFusion*) can take a bunch of parameters when launching it from the command line. They are as follows:
* *-cal <calibration>* : Loads a camera calibration file specified as *fx fy cx cy*.
* *-l <logfile>* : Processes the specified .klg log file.
* *-p <poses>* : Loads ground truth poses to use instead of estimated pose.
* *-c <confidence>* : Surfel confidence threshold (default *10*).
* *-d <depth>* : Cutoff distance for depth processing (default *3*m).
* *-i <icp>* : Relative ICP/RGB tracking weight (default *10*).
* *-ie <error>* : Local loop closure residual threshold (default *5e-05*).
* *-ic <count>* : Local loop closure inlier threshold (default *35000*).
* *-cv <covariance>* : Local loop closure covariance threshold (default *1e-05*).
* *-pt <photometric>* : Global loop closure photometric threshold (default *115*).
* *-ft <threshold>* : Fern encoding threshold (default *0.3095*).
* *-t <time>* : Time window length (default *200*).
* *-s <skip>* : Frames to skip at start of log.
* *-e <end>* : Cut off frame of log.
* *-f* : Flip RGB/BGR.
* *-icl* : Enable this if using the [ICL-NUIM](http://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html) dataset (flips normals to account for negative focal length on that data).
* *-o* : Open loop mode.
* *-rl* : Enable relocalisation.
* *-fs* : Frame skip if processing a log to simulate real-time.
* *-q* : Quit when finished a log.
* *-fo* : Fast odometry (single level pyramid).
* *-nso* : Disables SO(3) pre-alignment in tracking.
* *-r* : Rewind and loop log forever.
* *-ftf* : Do frame-to-frame RGB tracking.
* *-sc* : Showcase mode (minimal GUI).
Essentially by default *./ElasticFusion* will try run off an attached ASUS sensor live. You can provide a .klg log file instead with the -l parameter. You can capture .klg format logs using either [Logger1](https://github.com/mp3guy/Logger1) or [Logger2](https://github.com/mp3guy/Logger2).
# 3. How do I just use the Core API? #
The libefusion.so shared library which gets built by the Core is what you want to link against.
To then use the Core API, make sure to include the header file in your source file:
```cpp
#include <ElasticFusion.h>
```
Initialise the static configuration parameters once somewhere at the start of your program:
```cpExcerpt of 8,532 characters
Read on GitHub
55
3
2
2
2
Sergey Alexandrov · Aeolus Robotics, Inc. · Austria
2
1
1
1
1
1
1
1
Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:0940821ddbf6fdad, topic:slam, desc:slam, readme:slam
matched fp:0940821ddbf6fdad, topic:cuda