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List of Open Source SLAM projects
matlabbe edited this page Oct 13, 2024
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Tip: Install Github Sort Content to be able to sort columns (sorted by default by number of GitHub stars).
See also: https://github.com/SilenceOverflow/Awesome-SLAM
Last updated: October 2024
| Approach | Type | Stars | Created | Last Update | University/Company | Country |
|---|---|---|---|---|---|---|
| LIO-SAM | 3D LiDAR | 3400 | 2020 | 2024 | Massachusetts Institute of Technology (MIT) | USA |
| RTAB-Map | Visual - 2D/3D LiDAR | 2800 | 2011 | 2024 | Université de Sherbrooke | Canada |
| FAST-LIO2 | 3D LiDAR | 2700 | 2021 | 2024 | University of Hong Kong | Hong Kong |
| maplab | Visual | 2600 | 2017 | 2023 | ETH Zurich (ETHZ-ASL) | Switzerland |
| OpenVINS | Visual | 2200 | 2019 | 2024 | University of Delaware | USA |
| hdl graph slam | 3D LiDAR | 2000 | 2018 | 2023 | Toyohashi University of Technology | Japan |
| Slam Toolbox | 2D LiDAR | 1600 | 2014 | 2024 | Simbe Robotics | USA |
| KISS-ICP | 3D LiDAR | 1500 | 2022 | 2024 | University of Bonn | Germany |
| Kimera-VIO | Visual | 1500 | 2019 | 2024 | Laboratory for Information & Decision Systems (LIDS) MIT | USA |
| FAST-LIVO | Visual 3D LiDAR | 1200 | 2022 | 2024 | Hong Kong University of Science and Technology (HKUST) | Hong Kong |
| NeRF-SLAM | Visual | 1200 | 2022 | 2023 | Massachusetts Institute of Technology (MIT) | USA |
| FAST-LIVO2 | Visual 3D LiDAR | 996 | 2024 | 2024 | Hong Kong University of Science and Technology (HKUST) | Hong Kong |
| OpenVSLAM | Visual | 915 | 2021 | 2024 | Nagoya University | Japan |
| SuMa++ | 3D LiDAR | 911 | 2019 | 2024 | University of Bonn | Germany |
| AirSLAM | Visual | 737 | 2022 | 2024 | Nanyang Technological University | Singapore |
| GMapping | 2D LiDAR | 667 | 2009 | 2024 | University of Freiburg | Germany |
| Hector SLAM | 2D LiDAR | 645 | 2011 | 2024 | Technical University of Darmstadt | Germany |
| LIO-Livox | 3D LiDAR | 644 | 2021 | 2023 | Livox | China |
| MULLS | 3D LiDAR | 615 | 2020 | 2024 | ETH Zurich | Switzerland |
| OV2SLAM | Visual | 585 | 2020 | 2024 | Université Paris-Saclay | France |
| Direct LiDAR Inertial Odometry | 3D Lidar | 584 | 2023 | 2024 | Verifiable and Control-Theoretic Robotics Laboratory, University of California Los Angeles | USA |
| GLIM | 3D LiDAR | 497 | 2023 | 2024 | National Institute of Advanced Industrial Science and Technology (AIST) | Japan |
| MINS | Visual 3D LiDAR | 448 | 2023 | 2024 | University of Delaware | USA |
| LOCUS | 3D LiDAR | 355 | 2019 | 2023 | NASA Jet Propulsion Laboratory, California Institute of Technology | USA |
| Coco-LIC | Visual 3D LiDAR | 247 | 2024 | 2024 | Institute of Cyber-Systems and Control, Zhejiang University | China |
| SR-LIVO | Visual 3D LiDAR | 223 | 2023 | 2024 | University of Hong Kong | Hong Kong |
| LiDAR S-Graphs | 3D LiDAR | 215 | 2019 | 2024 | University of Luxembourg | Luxembourg |
| LE-VINS | Visual 3D LiDAR | 96 | 2024 | 2024 | Wuhan University | China |
| RI-LIO | Visual 3D LiDAR | 64 | 2023 | 2023 | Engineering Laboratory for Intelligent Industrial Vision, Chinese Academy of Sciences | China |
| SLIM | 3D LiDAR | 54 | 2024 | 2024 | Hong Kong University of Science and Technology (HKUST) | Hong Kong |
| Occupancy-SLAM | 2D LiDAR | 11 | 2023 | 2024 | University of Technology Sydney | Australia |
| Approach | Type | Stars | Created | Last Update | University/Company | Country |
|---|---|---|---|---|---|---|
| ORB-SLAM2 | Visual | 9400 | 2016 | 2017 | University of Zaragoza | Spain |
| Google Cartographer | 2D-3D LiDAR | 7100 | 2016 | 2022 | USA | |
| ORB-SLAM3 | Visual | 6500 | 2020 | 2022 | University of Zaragoza | Spain |
| VINS-Fusion | Visual | 3500 | 2019 | 2021 | Hong Kong University | Hong Kong |
| LSD-SLAM | Visual | 2600 | 2014 | 2014 | Technische Universität München (TUM) | Germany |
| LeGO-LOAM | 3D LiDAR | 2400 | 2020 | 2020 | Stevens Institute of Technology | USA |
| R3LIVE | Visual 3D LiDAR | 2000 | 2021 | 2022 | University of Hong Kong | Hong Kong |
| Elastic Fusion | Visual | 1800 | 2015 | 2022 | Imperial College London | UK |
| LOAM | 3D LiDAR | 1700 | 2013 | 2019 | Carnegie Mellon University | USA |
| LVI-SAM | Visual 3D LiDAR | 1500 | 2021 | 2022 | Massachusetts Institute of Technology (MIT) | USA |
| SegMap | 3D LiDAR | 1100 | 2016 | 2021 | ETH Zurich (ETHZ-ASL) | Switzerland |
| RGB-D SLAM | Visual | 943 | 2013 | 2018 | Technische Universität München (TUM) | Germany |
| LIO-mapping | 3D LiDAR | 943 | 2019 | 2019 | RAM-LAB Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology | Hong Kong |
| PTAM | Visual | 790 | 2013 | 2013 | University of Oxford | UK |
| BLAM | 3D LiDAR | 788 | 2016 | 2016 | University of California, Berkeley | USA |
| CT-ICP | 3D LiDAR | 753 | 2021 | 2022 | MINES ParisTech | France |
| DVO SLAM | Visual | 636 | 2012 | 2013 | Technische Universität München (TUM) | Germany |
| CoSLAM | Visual | 287 | 2013 | 2018 | National University of Singapore (NUS) | Singapore |
| ethzasl icp mapping | 2D-3D LiDAR | 272 | 2011 | 2019 | ETH Zurich (ETHZ-ASL) | Switzerland |
| VIDO-SLAM | Visual | 188 | 2021 | 2021 | Australian National University | Australia |
| Karto SLAM | 2D LiDAR | 147 | 2010 | 2020 | SRI International | USA |
| LF-VIO | Visual | 116 | 2022 | 2022 | State Key Laboratory of Modern Optical Instrumentation, Zhejiang University | China |
| mVIL-Fusion | 3D LiDAR | 91 | 2022 | 2022 | Xi'an University of Science and Technology | China |