└── README.md


/README.md:
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  1 | # Unifying Visual SLAM
  2 | 
  3 | A curated list of resources to help unify and standardize the landscape of Visual SLAM, Structure-from-Motion, datasets, tools, and educational content. This page collects links to key projects, foundational papers, tools, and talks.
  4 | 
  5 | This collection was created as an outcome of the RSS 2025 Workshop [Unifying Visual SLAM](https://visual-slam-lab.github.io/unifying-visual-slam/). Organizers: <a href="https://scholar.google.com/citations?user=SDtnGogAAAAJ&hl=en"><strong>Alejandro Fontan</strong></a>, <a href="https://schmluk.github.io"/><strong>Lukas Schmid</strong></a>, <a href="https://cvg.ethz.ch/team/Dr-Olga-Vysotska"/><strong>Olga Vysotska</strong></a>, <a href="https://www.linkedin.com/in/mubarizzaffar/"><strong>Mubariz Zaffar</strong></a>,  <a href="https://lpanaf.github.io/"><strong>Linfei Pan</strong></a>, <a href="https://gokulbnr.github.io/"><strong>Gokul B. Nair</strong></a>,  <a href="https://scholars.uow.edu.au/johan-barthelemy"><strong>Johan Barthelemy</strong></a>, <a href="https://scholar.google.com/citations?user=j_sMzokAAAAJ&hl=en"><strong>Javier Civera</strong></a> and <a href="https://scholar.google.com/citations?user=TDSmCKgAAAAJ&hl=en"><strong>Michael Milford</strong></a>
  6 | 
  7 | 👋 **Contributions are welcome!**! Feel free to open an issue or submit a pull request to suggest more tools, papers, or resources.
  8 | 
  9 | ---
 10 | 
 11 | ## 📌 Contents
 12 | 
 13 | - [Visual SLAM](#visual-slam)
 14 | - [Benchmarks / Libraries](#benchmarks--libraries)
 15 | - [Foundational Datasets](#foundational-datasets)
 16 | - [Foundational Papers](#foundational-papers)
 17 | - [Educational Resources](#educational-resources)
 18 | - [Datasets](#datasets)
 19 | - [Structure-from-Motion (SfM)](#structure-from-motion-sfm)
 20 | - [Talks](#talks)
 21 | - [Other Tools](#other-tools)
 22 | - [More Resources](#more-resources)
 23 | 
 24 | ---
 25 | 
 26 | <details open>
 27 | <summary><strong>Visual SLAM</strong></summary>
 28 | 
 29 | | Link | Description |
 30 | |------|-------------|
 31 | | [MASt3R-SLAM](https://edexheim.github.io/mast3r-slam/) | Real-Time Dense SLAM with 3D Reconstruction Priors |
 32 | | [MonoGS](https://rmurai.co.uk/projects/GaussianSplattingSLAM/) | Gaussian Splatting SLAM |
 33 | | [DPVO](https://github.com/princeton-vl/DPVO) | Deep Patch Visual Odometry/SLAM |
 34 | | [DROID-SLAM](https://github.com/princeton-vl/DROID-SLAM) | Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras |
 35 | | [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) | SLAM for Monocular, Stereo, and RGB-D Cameras |
 36 | | [DSO](https://github.com/JakobEngel/dso) | Direct Sparse Odometry |
 37 | 
 38 | </details>
 39 | 
 40 | <details>
 41 | <summary><strong>Benchmarks / Libraries</strong></summary>
 42 | 
 43 | | Link | Description |
 44 | |------|-------------|
 45 | | [VSLAM-LAB](https://github.com/alejandrofontan/VSLAM-LAB) | A Comprehensive Framework for Visual SLAM Baselines and Datasets |
 46 | | [VPR-methods](https://github.com/gmberton/VPR-methods-evaluation) | VPR Methods Evaluation |
 47 | | [PySLAM](https://github.com/luigifreda/pyslam) | Python SLAM pipeline for monocular, stereo and RGB-D |
 48 | | [slamplay](https://github.com/luigifreda/slamplay) | C++ SLAM experimentation tools |
 49 | 
 50 | </details>
 51 | 
 52 | <details>
 53 | <summary><strong>Foundational Datasets</strong></summary>
 54 | 
 55 | | Link | Description |
 56 | |------|-------------|
 57 | | [ETH3D](https://www.eth3d.net/slam_datasets) | ETH3D SLAM & Stereo Benchmarks |
 58 | | [RGB-D TUM](https://cvg.cit.tum.de/data/datasets/rgbd-dataset) | RGB-D SLAM Dataset and Benchmark |
 59 | 
 60 | </details>
 61 | 
 62 | <details>
 63 | <summary><strong>Foundational Papers</strong></summary>
 64 | 
 65 | | Link | Description |
 66 | |------|-------------|
 67 | | [PTAM](https://www.robots.ox.ac.uk/~gk/publications/KleinMurray2007ISMAR.pdf) | Parallel Tracking and Mapping for Small AR Workspace |
 68 | | [MonoSLAM](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4160954) | Real-Time Single Camera SLAM |
 69 | 
 70 | </details>
 71 | 
 72 | <details>
 73 | <summary><strong>Educational Resources</strong></summary>
 74 | 
 75 | | Link | Description |
 76 | |------|-------------|
 77 | | [SLAM Handbook](https://github.com/SLAM-Handbook-contributors/slam-handbook-public-release) | SLAM Handbook |
 78 | | [SLAM Course by Cyrill Stachniss](https://www.youtube.com/watch?v=U6vr3iNrwRA&list=PLgnQpQtFTOGQrZ4O5QzbIHgl3b1JHimN_) | SLAM-Course (2013/14) |
 79 | | [SLAM - 5 Minutes with Cyrill](https://www.youtube.com/watch?v=BuRCJ2fegcc) | Short SLAM Tutorials |
 80 | 
 81 | </details>
 82 | 
 83 | <details>
 84 | <summary><strong>Datasets</strong></summary>
 85 | 
 86 | | Link | Description |
 87 | |------|-------------|
 88 | | [CroCoDL](https://zuriich.github.io/CroCoDL/) | AR localization benchmark from legged robots |
 89 | | [M2DGR](https://github.com/SJTU-ViSYS/M2DGR) | A Multi-modal and Multi-scenario SLAM Dataset for Ground Robots |
 90 | | [Fusionportable](https://fusionportable.github.io/dataset/fusionportable/) | A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms |
 91 | | [FusionPortable V2](https://fusionportable.github.io/dataset/fusionportable_v2/) | From Campus to Highway: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments |
 92 | | [MCD](https://mcdviral.github.io/) | Diverse Large-Scale Multi-Campus Dataset for Robot Perception |
 93 | | [BotanicGarden](https://github.com/robot-pesg/BotanicGarden) | A high-quality dataset for robot navigation in unstructured natural environments |
 94 | | [Oxford Spires](https://dynamic.robots.ox.ac.uk/datasets/oxford-spires/) | Captured around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a terrestrial LiDAR scanner. |
 95 | 
 96 | </details>
 97 | 
 98 | <details>
 99 | <summary><strong>Structure-from-Motion (SfM)</strong></summary>
100 | 
101 | | Link | Description |
102 | |------|-------------|
103 | | [GLOMAP](https://github.com/colmap/glomap) | Global Structure-from-Motion Revisited |
104 | | [COLMAP](https://github.com/colmap/colmap) | General-purpose SfM and MVS pipeline |
105 | 
106 | </details>
107 | 
108 | <details>
109 | <summary><strong>Talks</strong></summary>
110 | 
111 | | Link | Description |
112 | |------|-------------|
113 | | [Daniel Cremers - Deep and Direct SLAM](https://www.youtube.com/watch?v=s9yc9-d-Vc8) | Tartan SLAM Series |
114 | | [Andrew Davison - From SLAM to Spatial AI](https://www.youtube.com/watch?v=PQFfJnmK26A) | Robotics Today |
115 | | [Graph-based Spatial AI](https://www.youtube.com/watch?v=svzQgfkrxZc) | Andrew Davison, Tartan SLAM Series |
116 | 
117 | </details>
118 | 
119 | <details>
120 | <summary><strong>Other Tools</strong></summary>
121 | 
122 | | Link | Description |
123 | |------|-------------|
124 | | [Pixi](https://pixi.sh/latest/) | Developer package management tool |
125 | | [Spectacular AI](https://spectacularai.github.io/docs/sdk/core.html) | SDK for real-time 3D mapping and 6-DoF tracking |
126 | 
127 | </details>
128 | 
129 | <details>
130 | <summary><strong>More Resources</strong></summary>
131 | 
132 | | Link | Description |
133 | |------|-------------|
134 | | [Awesome SLAM Datasets](https://github.com/youngguncho/awesome-slam-datasets) | A curated list of SLAM datasets |
135 | | [Awesome-Transformer-based-SLAM](https://kwanwaipang.github.io/Awesome-Transformer-based-SLAM/) | A curated list of SLAM related task employing Transformer |
136 | 
137 | 
138 | 
139 | </details>
140 | 
141 | 
142 | 


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