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.
This collection was created as an outcome of the RSS 2025 Workshop Unifying Visual SLAM. Organizers: Alejandro Fontan, Lukas Schmid, Olga Vysotska, Mubariz Zaffar, Linfei Pan, Gokul B. Nair, Johan Barthelemy, Javier Civera and Michael Milford
👋 Contributions are welcome!! Feel free to open an issue or submit a pull request to suggest more tools, papers, or resources.
- Visual SLAM
- Benchmarks / Libraries
- Foundational Datasets
- Foundational Papers
- Educational Resources
- Datasets
- Structure-from-Motion (SfM)
- Talks
- Other Tools
- More Resources
Visual SLAM
| Link | Description |
|---|---|
| MASt3R-SLAM | Real-Time Dense SLAM with 3D Reconstruction Priors |
| MonoGS | Gaussian Splatting SLAM |
| DPVO | Deep Patch Visual Odometry/SLAM |
| DROID-SLAM | Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras |
| ORB-SLAM2 | SLAM for Monocular, Stereo, and RGB-D Cameras |
| DSO | Direct Sparse Odometry |
Benchmarks / Libraries
| Link | Description |
|---|---|
| VSLAM-LAB | A Comprehensive Framework for Visual SLAM Baselines and Datasets |
| VPR-methods | VPR Methods Evaluation |
| PySLAM | Python SLAM pipeline for monocular, stereo and RGB-D |
| slamplay | C++ SLAM experimentation tools |
Foundational Datasets
| Link | Description |
|---|---|
| ETH3D | ETH3D SLAM & Stereo Benchmarks |
| RGB-D TUM | RGB-D SLAM Dataset and Benchmark |
Foundational Papers
| Link | Description |
|---|---|
| PTAM | Parallel Tracking and Mapping for Small AR Workspace |
| MonoSLAM | Real-Time Single Camera SLAM |
Educational Resources
| Link | Description |
|---|---|
| SLAM Handbook | SLAM Handbook |
| SLAM Course by Cyrill Stachniss | SLAM-Course (2013/14) |
| SLAM - 5 Minutes with Cyrill | Short SLAM Tutorials |
Datasets
| Link | Description |
|---|---|
| CroCoDL | AR localization benchmark from legged robots |
| M2DGR | A Multi-modal and Multi-scenario SLAM Dataset for Ground Robots |
| Fusionportable | A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms |
| FusionPortable V2 | From Campus to Highway: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments |
| MCD | Diverse Large-Scale Multi-Campus Dataset for Robot Perception |
| BotanicGarden | A high-quality dataset for robot navigation in unstructured natural environments |
| 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. |
Structure-from-Motion (SfM)
| Link | Description |
|---|---|
| GLOMAP | Global Structure-from-Motion Revisited |
| COLMAP | General-purpose SfM and MVS pipeline |
Talks
| Link | Description |
|---|---|
| Daniel Cremers - Deep and Direct SLAM | Tartan SLAM Series |
| Andrew Davison - From SLAM to Spatial AI | Robotics Today |
| Graph-based Spatial AI | Andrew Davison, Tartan SLAM Series |
Other Tools
| Link | Description |
|---|---|
| Pixi | Developer package management tool |
| Spectacular AI | SDK for real-time 3D mapping and 6-DoF tracking |
More Resources
| Link | Description |
|---|---|
| Awesome SLAM Datasets | A curated list of SLAM datasets |
| Awesome-Transformer-based-SLAM | A curated list of SLAM related task employing Transformer |