Alternatives and similar repositories for minisam

Users that are interested in minisam are comparing it to the libraries listed below

• PetWorm / LARVIO

  View on GitHub
  A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
  ☆787Apr 10, 2024Updated last year
• jzubizarreta / dsm

  View on GitHub
  Direct Sparse Mapping
  ☆461Apr 8, 2021Updated 4 years ago
• rvp-group / srrg2_solver

  View on GitHub
  ILS-based SLAM-focused solver
  ☆140Mar 7, 2021Updated 4 years ago
• MIT-SPARK / Kimera-RPGO

  View on GitHub
  Robust Pose Graph Optimization
  ☆550Oct 27, 2025Updated 3 months ago
• hyye / lio-mapping

  View on GitHub
  Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
  ☆999Feb 13, 2020Updated 6 years ago
• UTS-RI / ugpm

  View on GitHub
  Continuous preintegration
  ☆131Dec 19, 2025Updated last month
• shaolinbit / minisam_lib

  View on GitHub
  Lightweighted graph optimization (Factor graph) library.
  ☆135Mar 15, 2020Updated 5 years ago
• rpng / cpi

  View on GitHub
  Closed-form Preintegration for Graph-based Visual-Inertial Navigation
  ☆254Jun 10, 2019Updated 6 years ago
• vkopli / gtsam_vio

  View on GitHub
  Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.
  ☆153Sep 3, 2020Updated 5 years ago
• rpng / R-VIO

  View on GitHub
  Robocentric Visual-Inertial Odometry
  ☆842Apr 23, 2023Updated 2 years ago
• xipengwang / AprilSAM

  View on GitHub
  SLAM optimization algorithm
  ☆239Jul 17, 2021Updated 4 years ago
• baidu / ICE-BA

  View on GitHub
  ☆762Sep 12, 2018Updated 7 years ago
• artivis / kalmanif

  View on GitHub
  A small collection of Kalman Filters on Lie groups
  ☆385Apr 13, 2023Updated 2 years ago
• jypjypjypjyp / lvio_fusion

  View on GitHub
  Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)
  ☆271Oct 4, 2021Updated 4 years ago
• johannes-graeter / limo

  View on GitHub
  Lidar-Monocular Visual Odometry
  ☆878Dec 28, 2025Updated last month
• ChaoqinRobotics / LINS---LiDAR-inertial-SLAM

  View on GitHub
  A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter
  ☆750Oct 19, 2020Updated 5 years ago
• fabianschenk / RESLAM

  View on GitHub
  RESLAM: A real-time robust edge-based SLAM system
  ☆332Dec 4, 2019Updated 6 years ago
• MOLAorg / mola

  View on GitHub
  A Modular Optimization framework for Localization and mApping (MOLA)
  ☆862Feb 1, 2026Updated 2 weeks ago
• YuePanEdward / LLS-LOAM

  View on GitHub
  Lidar Odometry and Mapping with Mutiple Metrics Linear Least Square ICP
  ☆146Apr 17, 2020Updated 5 years ago
• izhengfan / se2lam

  View on GitHub
  (ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
  ☆411Jun 4, 2024Updated last year
• VladyslavUsenko / basalt

  View on GitHub
  Mirror of the Basalt repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt
  ☆851Jan 25, 2023Updated 3 years ago
• ethz-asl / voxgraph

  View on GitHub
  Voxblox-based Pose graph optimization
  ☆550May 6, 2022Updated 3 years ago
• iris-ua / iris_lama

  View on GitHub
  LaMa - A Localization and Mapping library
  ☆348Mar 11, 2024Updated last year
• zdzhaoyong / GSLAM

  View on GitHub
  A General Simultaneous Localization and Mapping Framework which supports feature based or direct method and different sensors including m…
  ☆1,054Apr 1, 2020Updated 5 years ago
• gisbi-kim / PyICP-SLAM

  View on GitHub
  Full-python LiDAR SLAM using ICP and Scan Context
  ☆574Nov 17, 2023Updated 2 years ago
• RozDavid / LOL

  View on GitHub
  LOL: Lidar-only Odometry and Localization in 3D point cloud maps
  ☆438Jan 8, 2021Updated 5 years ago
• NikolausDemmel / rootba

  View on GitHub
  Square Root Bundle Adjustment for Large-Scale Reconstruction
  ☆315Jun 20, 2023Updated 2 years ago
• ucla-vision / xivo

  View on GitHub
  X Inertial-aided Visual Odometry
  ☆890Feb 24, 2023Updated 2 years ago
• hku-mars / BALM

  View on GitHub
  An efficient and consistent bundle adjustment for lidar mapping
  ☆883Aug 19, 2024Updated last year
• borglab / gtsam

  View on GitHub
  GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networ…
  ☆3,290Feb 10, 2026Updated last week
• NeBula-Autonomy / LOCUS

  View on GitHub
  Robust Lidar Odometry System
  ☆385Apr 29, 2023Updated 2 years ago
• rpng / open_vins

  View on GitHub
  An open source platform for visual-inertial navigation research.
  ☆2,746Nov 30, 2025Updated 2 months ago
• YuePanEdward / MULLS

  View on GitHub
  🤔 MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA '21]
  ☆653Jan 17, 2024Updated 2 years ago
• APRIL-ZJU / clins

  View on GitHub
  [IROS 2021] CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
  ☆287Feb 24, 2022Updated 3 years ago
• TomLKoller / ADEKF

  View on GitHub
  Automatic Differentiated Extended Kalman Filter (ADEKF) - This is a generic EKF Implementation that uses automatic differentiation to get…
  ☆125Jan 12, 2026Updated last month
• MegviiRobot / MegBA

  View on GitHub
  MegBA: A GPU-Based Distributed Library for Large-Scale Bundle Adjustment
  ☆483Jun 3, 2024Updated last year
• MIT-SPARK / Kimera-VIO

  View on GitHub
  Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
  ☆1,825Mar 1, 2025Updated 11 months ago
• EdwardLiuyc / StaticMapping

  View on GitHub
  Use LiDAR to map the static world
  ☆345Nov 23, 2022Updated 3 years ago
• artivis / manif

  View on GitHub
  A small C++11 header-only library for Lie theory.
  ☆1,730Nov 1, 2025Updated 3 months ago