Protocol Buffers - Google's data interchange format

Open3D: A Modern Library for 3D Data Processing

Point Cloud Library (PCL)

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

COLMAP - Structure-from-Motion and Multi-View Stereo

open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.

A YAML parser and emitter in C++

A Robust and Versatile Monocular Visual-Inertial State Estimator

The public CGAL repository, see the README below

Extremely simple yet powerful header-only C++ plotting library built on the popular matplotlib

The Kalibr visual-inertial calibration toolbox

A large scale non-linear optimization library

CloudCompare main repository

An optimization-based multi-sensor state estimator

g2o: A General Framework for Graph Optimization

LSD-SLAM

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

Advanced implementation of LOAM

Semi-direct Visual Odometry

Python wrapper to Philipp Krähenbühl's dense (fully connected) CRFs with gaussian edge potentials.

Geometry Processing Library for Python

Open source IFC library and geometry engine

code for Holistically-Nested Edge Detection

A fast and robust point cloud registration library

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

Detailed comments for ORB-SLAM2 with trouble-shooting, key formula derivation, and diagrammatic drawing

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

A ROS package tool to analyze the IMU performance.