Educational/research monocular visual odometry implementation with ORB features, initialization, tracking, local mapping, and bundle adjustment in C++.

[3DV 2026] ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association

[3DV'24 Best Paper Honorable Mention] NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM

A ROS wrapper for ORB-SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

ROS-Noetic monocular-SLAM with A* path-planner for autonomous UAVs in unknown 3D environments

Dive into cutting-edge FusionSLAM, where SuperPoint, SuperGlue, Neural Depth Estimation, and Instant-NGP converge, elevating Monocular SLAM to unparalleled precision and performance. Redefining mapping, localization, and reconstruction in a single camera setup.

Real-time SLAM using ORB-SLAM3 with Python bindings

SLAM system using Total Least Square algorithm to determine the trajectory of a robot moving in a given environment

An implementation of Graph-based SLAM using only an onboard monocular camera. Developed as part of MSc Robotics Masters Thesis (2017) at University of Birmingham.

MonoSLAM to auto calibrate endoscope cameras

Landmark detection and localization project using python.

Source code for virtual-based experiments presented in the paper: UAV Navigation Using EKF-MonoSLAM Aided by Range- to-Base Measurements

Replicated results from DenseDepth using DenseNet169 in Python.

Off-device monocular dense VSLAM benchmarking framework for uncalibrated smartphone video streams, evaluating trajectory accuracy, dense 3D reconstruction quality, and efficiency on ADVIO, TUM-RGBD & custom Record3D datasets. Real-time concurrent Ray streaming pipeline.

Monocular SLAM triangle splatting ML based feature extraction

The Scale-Aware method improves SLAM optimization by incorporating scale constraints into the Bundle Adjustment optimization step

Live dense 3D room scanner from a single webcam — monocular visual SLAM + neural depth + TSDF fusion, streamed to a React/Three.js dashboard.

🔍 Explore visual SLAM with ViSTA-SLAM, utilizing symmetric two-view association for accurate mapping and navigation in diverse environments.

QDVO: A Quasi-Direct Approach to Visual Odometry