This new benchmark dataset, Open-Structure, is proposed to evaluate visual odometry and SLAM methods, which directly equips point and line measurements, correspondences, structural associations, and co-visibility factor graphs instead of providing raw images.
☆71Jun 23, 2025Updated last year
Alternatives and similar repositories for Open-Structure
Users that are interested in Open-Structure are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- This is a simulator software for SLAM. The pose estimation strategy, Venom, receives enhanced powers when structure primities are deteced…☆70Mar 9, 2023Updated 3 years ago
- Photometric SLAM and Bundle Adjustment for RGB-D and LiDAR in CUDA.☆137Jan 28, 2024Updated 2 years ago
- A Planar RGB-D SLAM which utilizes Manhattan World structure to provide optimal camera pose trajectory while also providing a sparse reco…☆159Aug 4, 2021Updated 5 years ago
- 📣 [IEEE IROS 2023] Official Repository of IROS 23 paper "Uncertainty-Aware Lidar Place Recognition in Novel Environments"☆66Jul 28, 2023Updated 3 years ago
- Source code for "Eigen-factors a bilevel optimization for plane SLAM of 3D point clouds"☆71Feb 21, 2025Updated last year
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.☆254Jul 22, 2024Updated 2 years ago
- GPU-implementation of HATSDF-SLAM and F-LOAM based TSDF-Mapping☆56May 21, 2024Updated 2 years ago
- A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation☆186May 3, 2024Updated 2 years ago
- Tightly coupled lidar-visual-inertial slam using the fuse framework☆91May 14, 2025Updated last year
- [ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for M…☆477Jul 27, 2026Updated 3 months ago
- Monocular Rotational Odometry with Incremental Rotation Averaging and Loop Closure☆16Dec 29, 2020Updated 5 years ago
- Multi-Camera Direct Sparse Odometry☆21Jun 9, 2020Updated 6 years ago
- Sparsify and Densify Visual Inertial Odometry☆153Oct 13, 2026Updated 2 weeks ago
- Multi-Session Dynamic-Aware LVIO Using Segmented Curved-Voxel Occupancy Descriptor☆46May 27, 2024Updated 2 years ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assump…☆160Jan 28, 2024Updated 2 years ago
- IRLS & Graduated Non-Convexity☆25Mar 23, 2023Updated 3 years ago
- ☆46Mar 13, 2026Updated 7 months ago
- [TIM 2024] Multi-Modal Features and Accurate Place Recognition with Robust Optimization for Lidar-Visual-Inertial SLAM☆82Apr 9, 2025Updated last year
- DSOL: Direct Sparse Odometry Lite☆413Dec 14, 2025Updated 10 months ago
- Efficient Graduated Non-Convexity for Pose Graph Optimization☆78Oct 20, 2023Updated 3 years ago
- A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.☆122Mar 27, 2025Updated last year
- Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration☆293Sep 19, 2024Updated 2 years ago
- [ICRA 2024] Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation☆114Mar 18, 2025Updated last year
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- A probabilistic voxelmap-based LiDAR-Inertial Odometry.☆562Oct 9, 2023Updated 3 years ago
- Any-Feature V-SLAM is an automated visual SLAM library for Monocular cameras capable of switching to a chosen type of feature effortlessl…☆153Jan 22, 2026Updated 9 months ago
- [3DV'24] Event-Based Visual Odometry on Non-Holonomic Ground Vehicles☆21Jun 15, 2025Updated last year
- ☆95Feb 9, 2023Updated 3 years ago
- [IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking☆222Mar 23, 2024Updated 2 years ago
- R2DIO:Real-time, RGB-colored, Depth-Inertial Indoor Odometry for RGB-D cameras☆75Nov 9, 2023Updated 2 years ago
- This is the code repository of our paper Point Cloud Change Detection With Stereo V-SLAM:Dataset, Metrics and Baseline. Based on VINS-Fus…☆49Jul 20, 2023Updated 3 years ago
- A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.☆421Mar 19, 2024Updated 2 years ago
- ☆25Jul 4, 2025Updated last year
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.☆567Jan 26, 2026Updated 9 months ago
- Sample code of ICRA 2018 paper: "Low-Drift Visual Odometry in Structured Environments by Decoupling Rotational and Translational Motion"☆51Jun 19, 2020Updated 6 years ago
- [ICRA 2024] Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning☆180Mar 12, 2024Updated 2 years ago
- DynaVINS : A Visual-Inertial SLAM for Dynamic Environments☆447Aug 8, 2025Updated last year
- ☆52Mar 1, 2024Updated 2 years ago
- a Multi-Map LiDAR-Inertial System for Over-Degraded Environments☆165Jul 16, 2025Updated last year
- [CVPR 2023] Efficient Map Sparsification Based on 2D and 3D Discretized Grids☆50Sep 23, 2023Updated 3 years ago