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  • November 2022: maplab 2.0 initial release with new features and sensors. Paper.
  • July 2018: Check out our release candidate with improved localization and lots of new features! Release 1.3.
  • May 2018: maplab was presented at ICRA in Brisbane. Paper / Initial Release.


This repository contains maplab 2.0, an open research-oriented mapping framework, written in C++, for multi-session and multi-robot mapping. For the original maplab release from 2018 the source code and documentation is available here.

For documentation, tutorials and datasets, please visit the wiki.


Robust visual-inertial odometry with localization

Large-scale multisession mapping and optimization

Multi-robot mapping and online operation

Dense reconstruction

A research platform extensively tested on real robots

Installation and getting started

The following articles help you with getting started with maplab and ROVIOLI:

More detailed information can be found in the wiki pages.

Research Results

The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to Research based on maplab.


Please cite the following papers maplab and maplab 2.0 when using our framework for your research:

  title={{maplab: An Open Framework for Research in Visual-inertial Mapping and Localization}},
  author={T. Schneider and M. T. Dymczyk and M. Fehr and K. Egger and S. Lynen and I. Gilitschenski and R. Siegwart},
  journal={IEEE Robotics and Automation Letters},
  title={{maplab 2.0 – A Modular and Multi-Modal Mapping Framework}},
  author={A. Cramariuc and L. Bernreiter and F. Tschopp and M. Fehr and V. Reijgwart and J. Nieto and R. Siegwart and C. Cadena},
  journal={IEEE Robotics and Automation Letters},

Additional Citations

Certain components of maplab are directly based on other publications.


  • Thomas Schneider
  • Marcin Dymczyk
  • Marius Fehr
  • Kevin Egger
  • Simon Lynen
  • Mathias Bürki
  • Titus Cieslewski
  • Timo Hinzmann
  • Mathias Gehrig
  • Florian Tschopp
  • Andrei Cramariuc
  • Lukas Bernreiter

For a complete list of contributors, have a look at