234 Open source projects that are alternatives of or similar to G2o

ROS2 package of tightly-coupled lidar inertial ndt/gicp slam

Bundle adjustment demo using Ceres Solver, with customized cost function and local parameterization on SE(3)

Particle filter-based localization in an occupancy grid map.

📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers

Updated UcoSLAM to compile for OpenCV 3

😎 A curated list of robotics libraries and software

Python package for the evaluation of odometry and SLAM

The Official Deep Learning Framework for Route-based Place Recognition

SE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision (IEEE Transactions on Cybernetics 2019)

semantic mapping module of vision lab slam system

Toolkit for VI-SLAM evaluation.

gradslam is an open source differentiable dense SLAM library for PyTorch

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong

Simulations for TurtleBot3

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

深度学习和三维视觉相关的论文

Visual-Inertial-Semantic-MApping Dataset and tools

Robot toolkit: Towards non-parametric and parametric navigation solutions

基于非线性优化的2Dslam仿真，实践前端数据关联，滑动窗口法，LM优化，FEJ。

首个中文的简单从零开始实现视觉SLAM理论与实践教程，使用Python实现。包括：ORB特征点提取，对极几何，视觉里程计后端优化，实时三维重建地图。A easy SLAM practical tutorial (Python).图像处理、otsu二值化。更多其他教程我的CSDN博客

Pepper Programs : Object Detection Real Time without ROS

Intelligent place recognition module for vins-fusion

Ground Truth of KITTI dataset (odometry benchmark) for loop closure detection or visual place recognition

Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.

An open source platform for visual-inertial navigation research.

ROS wrappers for SLAM algorithms in MRPT

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Cube SLAM 个人注释版

Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

⚡️ The Mobile Robot Programming Toolkit (MRPT)

Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners. Under development.

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

RTAB-Map library and standalone application

Implementation of CodeSLAM — Learning a Compact, Optimisable Representation for Dense Visual SLAM paper (https://arxiv.org/pdf/1804.00874.pdf)

ArUco-based EKF-SLAM.

Indoor Navigation with ARCore (From: 2018)

[IROS 2020] EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association

The ROS Package of Mask R-CNN for Object Detection and Segmentation

OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications

RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments (Code & Dataset)

SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021

DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences. J.Lamarca, S. Parashar, A. Bartoli & J.M.M. Montiel

SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction

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

Learn 视觉slam十四讲

3D LIDAR-based Graph SLAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

Advanced implementation of LOAM

Real-time dense visual SLAM system

The implementation of HDP SLAM

Monocular/Stereo Visual-Inertial ORB-SLAM based on ORB-SLAM2

Index repo for Kimera code

Lightweighted graph optimization (Factor graph) library.

GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)

RGB-D Encoder SLAM for a Differential-Drive Robot in Dynamic Environments

Real-time large scale dense visual SLAM system

A real-time robust monocular visual SLAM system based on ORB-SLAM for fisheye cameras, without rectifying or cropping the input images

Inside Out Positional Tracking (6DoF) for GearVR/Cardboard/Daydream using ARCore v1.6.0

SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021

An open visual-inertial mapping framework.