mp3guy/ElasticFusion

Health v2 · maintenance only

Flags: no_releases no_license

Adoption not part of the score

1927 stars · 596 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

ElasticFusion is a real-time dense visual SLAM system that builds globally consistent surfel-based 3D maps of room-scale environments from RGB-D camera data. It provides a core C++ library plus a GUI tool for live sensor or logged dataset processing, accelerated with CUDA.

Use cases

• reconstruct dense 3D maps of indoor rooms from an RGB-D camera
• run real-time SLAM on logged .klg datasets
• build globally consistent surfel maps without a pose graph
• evaluate SLAM algorithms on datasets like ICL-NUIM
• integrate a dense SLAM engine into other C++ projects via its core API

When to choose

• you need real-time dense 3D reconstruction of room-scale indoor scenes
• you have an NVIDIA GPU and an RGB-D camera or depth logs
• you want surfel-based globally consistent mapping for robotics or research

When to avoid

• you need lightweight SLAM on CPU-only or embedded hardware
• you need outdoor or large-scale mapping rather than room-scale indoor scenes
• you need a permissively licensed library, as the license is non-standard

Facets

application · maturity maintenance

computer-vision graphics simulation computer-vision robotics graphics cpp slam rgb-d surfel-mapping 3d-reconstruction cuda real-time linux gpu

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