{"id":13437733,"url":"https://github.com/ethz-asl/maplab","last_synced_at":"2025-05-14T21:03:13.443Z","repository":{"id":40408677,"uuid":"112253403","full_name":"ethz-asl/maplab","owner":"ethz-asl","description":"A Modular and Multi-Modal Mapping Framework","archived":false,"fork":false,"pushed_at":"2024-05-31T08:49:33.000Z","size":76671,"stargazers_count":2708,"open_issues_count":121,"forks_count":728,"subscribers_count":143,"default_branch":"master","last_synced_at":"2025-04-03T05:09:01.608Z","etag":null,"topics":["mapping","not-matlab","slam"],"latest_commit_sha":null,"homepage":"https://maplab.asl.ethz.ch","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ethz-asl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":".github/CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-11-27T21:58:23.000Z","updated_at":"2025-04-02T09:02:06.000Z","dependencies_parsed_at":"2023-02-15T20:45:55.647Z","dependency_job_id":"7d997471-b798-4221-951f-5925f2ef90e6","html_url":"https://github.com/ethz-asl/maplab","commit_stats":{"total_commits":713,"total_committers":28,"mean_commits":"25.464285714285715","dds":0.7405329593267882,"last_synced_commit":"0b4868efeb292851d71f98d31a1e6bb40ebb244b"},"previous_names":[],"tags_count":5,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Fmaplab","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Fmaplab/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Fmaplab/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Fmaplab/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ethz-asl","download_url":"https://codeload.github.com/ethz-asl/maplab/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248197725,"owners_count":21063621,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["mapping","not-matlab","slam"],"created_at":"2024-07-31T03:00:59.799Z","updated_at":"2025-04-10T09:50:54.760Z","avatar_url":"https://github.com/ethz-asl.png","language":"C++","funding_links":[],"categories":["C++","3. Visual Inertial SLAM","三、Lidar SLAM","Simultaneous Localization and Mapping","WhyLongTerm","四 视觉SLAM从入门到进阶","视觉SLAM","Softwares and Libraries","OpenSource SLAM (Simultaneous Localization And Mapping)"],"sub_categories":["3.1 Framework","8.**maplab2.0：方便的SLAM系统集成**","Lidar","Australia","Code","UAV Trajectory Optimization for model completeness"],"readme":"\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/logos/maplab_new.png\" width=\"500\"\u003e\n\n\n*Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)\n[![Documentation Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_docs\u0026subject=docs)](https://jenkins.asl.ethz.ch/job/maplab_docs)\n\n## News\n * **November 2022:** maplab 2.0 initial release with new features and sensors. [Paper](https://arxiv.org/pdf/2212.00654.pdf).\n * **July 2018:** Check out our release candidate with improved localization and lots of new features! [Release 1.3](https://github.com/ethz-asl/maplab/releases/tag/1.3).\n * **May 2018:** maplab was presented at [ICRA](https://icra2018.org/) in Brisbane. [Paper](https://arxiv.org/abs/1711.10250) / [Initial Release](https://github.com/ethz-asl/maplab/releases/tag/initial_release).\n\n\n\n## Description\n\nThis repository contains **maplab 2.0**, an open research-oriented mapping framework, written in C++,  for multi-session and multi-robot mapping. For the original maplab release from 2018 the source code and documentation is available [here](https://github.com/ethz-asl/maplab/releases/tag/1.3).\n\n**For documentation, tutorials and datasets, please visit the [wiki](https://maplab.asl.ethz.ch/index.html).**\n\n## Features\n\n### Robust visual-inertial odometry with localization\n\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rovio_stairs.gif\" width=\"400\"\u003e \u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rviz_cla_vs.gif\" width=\"400\"\u003e\n\n### Large-scale multisession mapping and optimization\n\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/largescale.gif\" width=\"400\"\u003e \u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/cla.png\" width=\"400\"\u003e\n\n### Multi-robot mapping and online operation\n\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/arche.jpg\" width=\"400\"\u003e \u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/multirobot.gif\" width=\"400\"\u003e\n\n### Dense reconstruction\n\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/stereo.png\" width=\"400\"\u003e \u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/pmvs.png\" width=\"400\"\u003e\n\n### A research platform extensively tested on real robots\n\u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/topomap.png\" width=\"400\"\u003e \u003cimg src=\"https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/robots.jpg\" width=\"400\"\u003e\n\n## Installation and getting started\n\nThe following articles help you with getting started with maplab and ROVIOLI:\n\n- [Installation on Ubuntu 18.04 or 20.04](https://maplab.asl.ethz.ch/docs/master/pages/installation/A_Installation-Ubuntu.html)\n- [Introduction to the maplab framework](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/A_The-Maplab-Framework.html)\n- [Running ROVIOLI in VIO mode](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-rovioli/B_Running-ROVIOLI-in-VIO-mode.html)\n- [Basic console usage](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/A_Basic-Console-Usage.html)\n- [Console map management](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/C_Console-map-management.html)\n\n**More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/index.html).**\n\n## Research Results\n\nThe maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/C_Related-Research.html#additional-citations).\n\n## Citing\n\nPlease cite the following papers [maplab](https://arxiv.org/abs/1711.10250) and [maplab 2.0](https://arxiv.org/abs/2212.00654) when using our framework for your research:\n\n```bibtex\n@article{schneider2018maplab,\n  title={{maplab: An Open Framework for Research in Visual-inertial Mapping and Localization}},\n  author={T. Schneider and M. T. Dymczyk and M. Fehr and K. Egger and S. Lynen and I. Gilitschenski and R. Siegwart},\n  journal={IEEE Robotics and Automation Letters},\n  volume={3},\n  number={3},\n  pages={1418--1425},\n  year={2018},\n  doi={10.1109/LRA.2018.2800113}\n}\n```\n\n```bibtex\n@article{cramariuc2022maplab,\n  title={{maplab 2.0 – A Modular and Multi-Modal Mapping Framework}},\n  author={A. Cramariuc and L. Bernreiter and F. Tschopp and M. Fehr and V. Reijgwart and J. Nieto and R. Siegwart and C. Cadena},\n  journal={IEEE Robotics and Automation Letters},\n  volume={8},\n  number={2},\n  pages={520-527},\n  year={2023},\n  doi={10.1109/LRA.2022.3227865}\n}\n```\n\n### Additional Citations\n\nCertain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab).\n\n\n## Credits\n\n * Thomas Schneider\n * Marcin Dymczyk\n * Marius Fehr\n * Kevin Egger\n * Simon Lynen\n * Mathias Bürki\n * Titus Cieslewski\n * Timo Hinzmann\n * Mathias Gehrig\n * Florian Tschopp\n * Andrei Cramariuc\n * Lukas Bernreiter\n\nFor a complete list of contributors, have a look at [CONTRIBUTORS.md](https://github.com/ethz-asl/maplab/blob/master/CONTRIBUTORS.md)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Fmaplab","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fethz-asl%2Fmaplab","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Fmaplab/lists"}