An open library of computer vision algorithms

🚀 AirVO upgrades to AirSLAM [TRO]🚀

SuperPoint and SuperGlue with TensorRT. Deploy with C++.

COLMAP - Structure-from-Motion and Multi-View Stereo

FBOW (Fast Bag of Words) is an extremmely optimized version of the DBow2/DBow3 libraries.

Fast Library for Approximate Nearest Neighbors

Image retrieval learning record

Improved version of DBow2

Code for "Detector-Free Structure from Motion", CVPR 2024

Code for "Efficient LoFTR: Semi-Dense Local Feature Matching with Sparse-Like Speed", CVPR 2024

🤗 image matching webui

Direct Sparse Mapping

Photometric Bundle Adjustment as a refinement step after feature-based Structure-from-Motion

Visual localization made easy with hloc

From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)

RTAB-Map library and standalone application

A curated list of resources relevant to LiDAR-Visual-Fusion-SLAM

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

Toolkit for continuous-time structure from motion

A CUDA implementation of SIFT for NVidia GPUs (1.2 ms on a GTX 1060)

[ICRA 2025] Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion

[TRO 2022] Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems

[TPAMI 2023] A cascaded vision-LiDAR odometry and mapping system

Bundle Adjusted Direct RGB-D SLAM

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

A collection of GICP-based fast point cloud registration algorithms

Front_end : fastlio2 Back_end : lio_sam