{"id":19745556,"url":"https://github.com/kemfic/simple-slam","last_synced_at":"2026-04-08T14:04:13.613Z","repository":{"id":201786158,"uuid":"151969784","full_name":"kemfic/simple-SLAM","owner":"kemfic","description":"wip - a simple slam implementation so i can learn stuff","archived":false,"fork":false,"pushed_at":"2020-04-23T19:01:58.000Z","size":82999,"stargazers_count":16,"open_issues_count":1,"forks_count":5,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-04-06T00:02:22.446Z","etag":null,"topics":["computer-vision","multiple-view-geometry","opencv","opencv3","python3","robotics","slam","visual-odometry"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/kemfic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2018-10-07T17:58:32.000Z","updated_at":"2024-04-09T22:30:16.000Z","dependencies_parsed_at":null,"dependency_job_id":"983fc6aa-68fc-4f01-93bf-9f6c4f68b743","html_url":"https://github.com/kemfic/simple-SLAM","commit_stats":null,"previous_names":["kemfic/simple-slam"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kemfic%2Fsimple-SLAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kemfic%2Fsimple-SLAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kemfic%2Fsimple-SLAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kemfic%2Fsimple-SLAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/kemfic","download_url":"https://codeload.github.com/kemfic/simple-SLAM/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251661101,"owners_count":21623380,"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":["computer-vision","multiple-view-geometry","opencv","opencv3","python3","robotics","slam","visual-odometry"],"created_at":"2024-11-12T02:09:35.143Z","updated_at":"2026-04-08T14:04:13.578Z","avatar_url":"https://github.com/kemfic.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# simple-SLAM\n\nA crappy visual SLAM implementation I'm working on to learn stuff. Still a work in progress.\n\nrefactor coming at some point\n\n[video playlist](https://www.youtube.com/playlist?list=PLz9N52s5FSIUFNoLjyNy_9EW42Ngy6ipn)\n\n![pointcloud](resources/pointcloud.png)\n\u003c!---\n\u003cp float=\"left\"\u003e\n  \u003cimg src=\"resources/scene.png\" height=\"200\" /\u003e\n  \u003cimg src=\"resources/vo.png\" height=\"200\" /\u003e\n\u003c/p\u003e\n\n\u003cp float=\"left\"\u003e\n  \u003cimg src=\"resources/2.png\" height=\"250\" /\u003e\n  \u003cimg src=\"resources/Untitled.png\" height=\"250\" /\u003e\n\u003c/p\u003e\n---\u003e\n## todo\n   - add keyframes\n   - refactor everything\n   - figure out what bundle adjustment is\n\n## how to use\n   - not sure if I can share the datasets i'm using, so just put any video file in the `vids/` folder\n\n   - currently only have visual odometry barely working, so just run `python stream.py` to see it working\n\nwant to learn more about slam/visual odometry?\n---\n   - check out Multiple View Geometry by Hartley \u0026 Zissermann\n   - [Avi Singh's visual odometry projects](https://github.com/avisingh599/mono-vo)\n   - [twitchslam by geohot](https://github.com/geohot/twitchslam)\n   - [UZH and ETH Zurich's course (Vision Algorithms for Mobile Robotics)](https://web.archive.org/web/20171231011504/http://rpg.ifi.uzh.ch/teaching.html)\n   - S-PTAM, PTAM, ORB-SLAM, LSD-SLAM\n     - papers and code are super useful\n   - OpenCV references in API documentation\n     - look in the SFM modules\n\n## dependencies\n   - OpenCV\n   - Numpy\n   - Scikit-image\n   - pangolin (we use uoip's fork for its bindings, since its a bit more python-friendly and intuitive)\n      - https://github.com/uoip/pangolin\n\n## LOICENSE\n\nMIT license. Do what you want with it, but please attribute my work if you do. Also don't sue me.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkemfic%2Fsimple-slam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkemfic%2Fsimple-slam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkemfic%2Fsimple-slam/lists"}