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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.
:books: The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
| Date | Stars |
|---|---|
| 2026-07-24 | 2428 |
| 2026-07-25 | 2428 |
| 2026-07-28 | 2428 |
| 2026-07-30 | 2428 |
| 2026-08-06 | 2428 |
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# The list of vision-based SLAM / Visual Odometry open source projects, libraries, dataset, tools, and studies [](https://github.com/tzutalin/awesome-visual-slam) ## Index * [Libraries](#libraries) * [Dataset](#dataset) * [Tools](#tools) * [Projects](#projects) * [Learn](pages/learn.md) * [Miscellaneous](pages/miscellaneous.md) ## Libraries ###### Basic vision and trasformation libraries - [OpenCV](http://opencv.org/) - [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) - [Sophus](https://github.com/strasdat/Sophus) - [ROS](http://www.ros.org/) - [PointCloud](http://pointclouds.org/) ###### Thread-safe queue libraries - [concurrentqueue](https://github.com/cameron314/concurrentqueue) - [Intel® TBB](https://www.threadingbuildingblocks.org/) - [Facebook folly PC](https://github.com/facebook/folly/blob/master/folly/ProducerConsumerQueue.h) ###### Loop detection - [dorian3d](https://github.com/dorian3d) ###### Graph Optimization - [ceres-solver](https://github.com/ceres-solver/ceres-solver) - [g2o](https://github.com/RainerKuemmerle/g2o) - [gtsam](https://collab.cc.gatech.edu/borg/gtsam?destination=node%2F299) - [Vertigo](http://openslam.org/vertigo.html) ###### Map library - [ETHZ ASL/Grid Map](https://github.com/ethz-asl/grid_map) - [OmniMapper](https://github.com/CognitiveRobotics/omnimapper/wiki) - [OctoMap](https://github.com/OctoMap/octomap) ## Dataset Dataset for benchmark/test/experiment/evalutation - [TUM University](http://vision.in.tum.de/data/datasets/rgbd-dataset/download) - [KITTI Vision benchmark](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) - [UNI-Freiburg](http://kaspar.informatik.uni-freiburg.de/~slamEvaluation/datasets.php) - [ADVIO](https://github.com/AaltoVision/ADVIO) - [Oxford RobotCar Dataset](https://robotcar-dataset.robots.ox.ac.uk/) - [HRI (Honda Research Institute) Driving Datasets](https://usa.honda-ri.com/honda-driving-datasets) - [Argoverse](https://www.argoverse.org/data.html) - [nuScenes](https://www.nuscenes.org) - [Waymo Open Dataset](https://waymo.com/open/) - [Lyft Level 5 AV Dataset 2019](https://level5.lyft.com/dataset/) - [KAIST Urban Dataset](https://irap.kaist.ac.kr/dataset/) ## Tools - [rgbd-dataset tool from TUM](https://vision.in.tum.de/data/datasets/rgbd-dataset/tools) - [evo - evaluation tool for different trajectory formats](https://github.com/MichaelGrupp/evo) - [VDO_SLAM - A Visual Object-aware Dynamic SLAM library](https://github.com/halajun/vdo_slam) ## Projects ###### RGB (Monocular): - [Kimera](https://github.com/MIT-SPARK/Kimera). Available on ROS > A. Rosinol, M. Abate, Y. Chang, L. Carlone. Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. arXiv preprint arXiv:1910.02490. - [PTAM](https://github.com/Oxford-PTAM/PTAM-GPL) > [1] Georg Klein and David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", Proc. ISMAR 2007 > [2] Georg Klein and David Murray, "Improving the Agility of Keyframe-based SLAM", Proc. ECCV 2008 - [DSO](https://github.com/JakobEngel/dso_ros). Available on ROS >Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016 >A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016 - [LSD-SLAM](https://github.com/tum-vision/lsd_slam). Available on ROS >LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14 >Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13 - [ORB-SLAM](https://github.com/raulmur/ORB_SLAM). Available on ROS > [1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF. > [2] Dorian Gálvez-López and J
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Michael Grupp · Rerun · Germany
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cc · https://dimensionalos.com · United States
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Toni Rosinol · @stackai · United States
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Haden Wasserbaech · United States
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Martin Rünz · synthesia.io · Germany
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Mohamed Zahran
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Haozhe Xie · Nanyang Technological University · Singapore
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:560a3ddce1fb261f, topic:ros, topic:slam, readme:robotics