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OpenVSLAM: A Versatile Visual SLAM Framework

arXiv 1910.01122 ↗First posted 2 Oct 2019cs.CV cs.ROcited by 64

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Abstract (arXiv)

In this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual SLAM frameworks are not appropriately designed as libraries called from third-party programs. To overcome this situation, we have developed a novel visual SLAM framework. This software is designed to be easily used and extended. It incorporates several useful features and functions for research and development.

Key facts. Cited by 64 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Oct 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 14; 2022: 11; 2023: 7; 2024: 16; 2025: 8; 2026: 8.

64 papers.

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  1. 2021360MonoDepth: High-Resolution 360deg Monocular Depth Estimationcited by 60
  2. 2021Egocentric Pose Estimation from Human Vision Spancited by 27
  3. 2024SPIN: Simultaneous Perception, Interaction and Navigationcited by 27
  4. 2022360FusionNeRF: Panoramic Neural Radiance Fields with Joint Guidancecited by 23
  5. 2024PanSplat: 4K Panorama Synthesis with Feed-Forward Gaussian Splattingcited by 23
  6. 2024ODGS: 3D Scene Reconstruction from Omnidirectional Images with 3D Gaussian Splattingscited by 19
  7. 2022Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Camerascited by 16
  8. 2022360 Depth Estimation in the Wild -- The Depth360 Dataset and the SegFuse Networkcited by 15
  9. 2022LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Planecited by 11
  10. 2022LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agentscited by 11
  11. 2023CF-NeRF: Camera Parameter Free Neural Radiance Fields with Incremental Learningcited by 11
  12. 20243D Scene Geometry Estimation from 360^circ Imagery: A Surveycited by 11
38 more
  1. 2022Visual SLAM: What are the Current Trends and What to Expect?cited by 10
  2. 2021HybVIO: Pushing the Limits of Real-time Visual-inertial Odometrycited by 8
  3. 2021360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimationcited by 8
  4. 2022SmartPortraits: Depth Powered Handheld Smartphone Dataset of Human Portraits for State Estimation, Reconstruction and Synthesiscited by 7
  5. 20233D reconstruction from spherical images: A review of techniques, applications, and prospectscited by 7
  6. 2024OmniSDF: Scene Reconstruction using Omnidirectional Signed Distance Functions and Adaptive Binoctreescited by 6
  7. 2024360ORB-SLAM: A Visual SLAM System for Panoramic Images with Depth Completion Networkcited by 5
  8. 2024OmniLocalRF: Omnidirectional Local Radiance Fields from Dynamic Videoscited by 5
  9. 2024OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Cloudscited by 5
  10. 2025PanFlow: Decoupled Motion Control for Panoramic Video Generationcited by 5
  11. 2021Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstructioncited by 4
  12. 2021Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Imagescited by 3
  13. 2021Comparison of modern open-source visual SLAM approachescited by 3
  14. 2022UNav: An Infrastructure-Independent Vision-Based Navigation System for People with Blindness and Low visioncited by 3
  15. 2022PatchMatch-Stereo-Panorama, a fast dense reconstruction from 360deg video imagescited by 3
  16. 2023LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segmentscited by 3
  17. 2023D2S: Representing sparse descriptors and 3D coordinates for camera relocalizationcited by 3
  18. 2024Self-training Room Layout Estimation via Geometry-aware Ray-castingcited by 3
  19. 2024GSLAMOT: A Tracklet and Query Graph-based Simultaneous Locating, Mapping, and Multiple Object Tracking Systemcited by 3
  20. 2024Gravity-aligned Rotation Averaging with Circular Regressioncited by 3
  21. 2025Wanderland: Geometrically Grounded Simulation for Open-World Embodied AIcited by 3
  22. 2021AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environmentscited by 2
  23. 2023HDPV-SLAM: Hybrid Depth-augmented Panoramic Visual SLAM for Mobile Mapping System with Tilted LiDAR and Panoramic Visual Cameracited by 2
  24. 2024OmniSCV: An Omnidirectional Synthetic Image Generator for Computer Visioncited by 2
  25. 2024PAS-SLAM: A Visual SLAM System for Planar Ambiguous Scenescited by 2
  26. 2025TextInPlace: Indoor Visual Place Recognition in Repetitive Structures with Scene Text Spotting and Verificationcited by 2
  27. 2025You Need a Transition Plane: Bridging Continuous Panoramic 3D Reconstruction with Perspective Gaussian Splattingcited by 2
  28. 2026360DVO: Deep Visual Odometry for Monocular 360-Degree Cameracited by 2
  29. 2026VGGT-SLAM++cited by 2
  30. 2026CalibAnyView: Beyond Single-View Camera Calibration in the Wildcited by 2
  31. 2021A Collaborative Visual SLAM Framework for Service Robotscited by 1
  32. 2021Video-Based Camera Localization Using Anchor View Detection and Recursive 3D Reconstructioncited by 1
  33. 2021Autonomy and Perception for Space Miningcited by 1
  34. 2021Autonomous Navigation System from Simultaneous Localization and Mappingcited by 1
  35. 2022SLAM for Visually Impaired People: a Surveycited by 1
  36. 2023Redefining Recon: Bridging Gaps with UAVs, 360 degree Cameras, and Neural Radiance Fieldscited by 1
  37. 2024Radiance Field Learners As UAV First-Person Viewerscited by 1
  38. 2024P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertaintycited by 1

50 most cited of 64 All 64 (JSON)