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pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.
This repo accompanies the research paper, ARKitScenes - A Diverse Real-World Dataset for 3D Indoor Scene Understanding Using Mobile RGB-D Data and contains the data, scripts to visualize and process assets, and training code described in our paper.
[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
[ICCV2025] 3DRealCar: An In-the-wild RGB-D Car Dataset with 360-degree Views
Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar.
Toolkit for collecting, merging, auditing, visualizing, and publishing RGB/RGB-D LeRobot VLA datasets.