Visual Odometry or SLAM with pose uncertainty output

This page summarizes the projects mentioned and recommended in the original post on /r/robotics
slam-algorithms visual-inertial-odometry Slam msckf sensor-calibration

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  • ORB_SLAM3

    ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

    • You can actually use ORB-SLAM and get the uncertainties. They don't provide a convenient function for it but the data is here.

  • open_vins

    An open source platform for visual-inertial navigation research.

    • Generally you want to use a Kalman Filter based method if you want access to the uncertainties. This is because it is much easier to extract a subset of the covariance in the kalman filter form. I would recommend OpenVins. One of the best open source visual odometry projects, and it is pretty well documented.

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    Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.

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NOTE: The number of mentions on this list indicates mentions on common posts plus user suggested alternatives. Hence, a higher number means a more popular project.

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