luigifreda/pyslam

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.

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*pySLAM is a hybrid python/C++ implementation of a *Visual SLAM* pipeline (Simultaneous Localization And Mapping) that supports monocular, stereo and RGBD cameras. It provides the following features in a single python environment: A wide range of classical and modern local features with a convenient interface for their integration. Multiple loop closing methods, including descriptor aggregators such as visual Bag of Words (*BoW*, *iBow*), Vector of Locally Aggregated Descriptors (*VLAD*) and modern global descriptors (image-wise descriptors such as *SAD*, *NetVLAD*, *HDC-Delf*, *CosPlace*, *Ei…

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3d-reconstruction depth-estimation depth-prediction end-to-end-reconstruction feature-matching gaussian-splatting global-features instance-segmentation local-features loop-closure place-recognition rgbd-slam

luigifreda/pyslam

Brief / README 摘要

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