luigifreda/pyslam

Health v2 · maintenance only

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3401 stars · 542 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-29, confidence not recorded

pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras with a wide range of local and global feature extractors, loop-closure methods, and volumetric reconstruction including Gaussian Splatting. It integrates modern depth prediction and semantic segmentation models for enhanced scene understanding and serves as a flexible experimental framework for VO/SLAM research.

Use cases

• run visual SLAM with a monocular, stereo, or RGB-D camera
• compare classical and learned local feature extractors for visual odometry
• perform loop closure and place recognition with NetVLAD or CosPlace global descriptors
• build dense 3D reconstructions from depth images using TSDF volumetric integration
• estimate depth from monocular images with DepthAnything or DepthPro inside a SLAM pipeline
• segment scenes semantically while mapping with SLAM
• reconstruct 3D scenes from multiple views with DUSt3R or VGGT
• experiment with SLAM backends using g2o or GTSAM

When to choose

• you need a flexible Python-based Visual SLAM baseline for research and experimentation
• you want to swap and benchmark different local features, global descriptors, or loop-closing methods in one framework
• you need integrated depth prediction, semantic segmentation, or volumetric reconstruction alongside SLAM
• you want interoperable Python and C++ SLAM cores with performance-versus-flexibility tradeoffs

When to avoid

• you need a production-grade, hard-real-time SLAM system for deployment on embedded hardware
• you require a lightweight solution without heavy deep-learning model dependencies
• you need a fully C++ SLAM implementation without Python involvement
• your project cannot comply with the GPL-3.0 license

Facets

library · maturity active

computer-vision machine-learning image-processing simulation graphics robotics computer-vision autonomous-vehicles machine-learning python cpp slam visual-odometry rgbd stereo monocular loop-closure depth-estimation semantic-segmentation gaussian-splatting tsdf volumetric-reconstruction place-recognition feature-matching pybind11 g2o gtsam 3d-reconstruction linux macos

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