SP-SLAM3 v1.0.0

SP-SLAM3 v1.0.0

ORB-SLAM3 with learned deep learning components replacing the handcrafted feature pipeline.

What's included

• SuperPoint (CNN-based keypoint detector + 256-dim float descriptor)
• LightGlue (attention-based learned matcher, optional)
• NetVLAD / CosPlace (learned place recognition, optional)
• Optical flow fallback for tracking recovery
• FP16 inference + GPU/CPU fallback
• DBoW3 vocabulary for SuperPoint descriptors

Benchmark (EuRoC, monocular, median of 5 runs)

Sequence	SP-SLAM3	ORB-SLAM3	Result
MH_01_easy	0.0218 m	0.034 m	1.56x better
MH_02_easy	0.0279 m	0.036 m	1.29x better

Pre-trained Models (Release Assets)

File	Description
superpoint.pt	SuperPoint TorchScript model (5 MB)
lightglue.pt	LightGlue TorchScript model (46 MB)
superpoint_voc.dbow3	DBoW3 vocabulary (113 MB)
superpoint_voc.yml	YAML vocabulary (298 MB)