# mp3guy/ElasticFusion

Real-time dense visual SLAM system

Repository: https://github.com/mp3guy/ElasticFusion
Canonical: https://ross.abutalabs.com/products/elasticfusion
Language: C++
License: NOASSERTION
License Family: other
Topics: slam, cuda, reconstruction
Last push: 2025-08-03T10:04:09+00:00

## Health v2 (maintenance only)
Score: 48/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 35, release rhythm 35, longevity 100
- inputs: {"age_days": 3968, "days_push": 395, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1927, forks 596 (observed 2026-08-28T04:05:55.649844+00:00)

## What it is
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
- artifact type: application
- maturity: maintenance
- function: computer-vision, graphics, simulation
- domain: computer-vision, robotics, graphics
- platform: cpp
- tags: slam, rgb-d, surfel-mapping, 3d-reconstruction, cuda, real-time, linux, gpu

## Member repositories
- mp3guy/ElasticFusion (main) score 48

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:55.649844+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:09:09.880663+00:00, confidence not recorded.
  - readme: https://github.com/mp3guy/ElasticFusion (fetched 2026-08-28T04:05:55.649844+00:00, sha eec8140e3d8b)
- Data as of 2026-08-30T08:39:29.467469+00:00.