# OpenVSLAM: A Versatile Visual SLAM Framework

arXiv: https://arxiv.org/abs/1910.01122 · HTML: https://mlsanity.com/paper/1910.01122/

## Key facts

- Cited by 64 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Oct 2019.

## Built on by (most cited first, 30 of 64)

- [360MonoDepth: High-Resolution 360deg Monocular Depth Estimation](https://mlsanity.com/paper/2111.15669/) (2021)
- [SPIN: Simultaneous Perception, Interaction and Navigation](https://mlsanity.com/paper/2405.07991/) (2024)
- [Egocentric Pose Estimation from Human Vision Span](https://mlsanity.com/paper/2104.05167/) (2021)
- [PanSplat: 4K Panorama Synthesis with Feed-Forward Gaussian Splatting](https://mlsanity.com/paper/2412.12096/) (2024)
- [360FusionNeRF: Panoramic Neural Radiance Fields with Joint Guidance](https://mlsanity.com/paper/2209.14265/) (2022)
- [ODGS: 3D Scene Reconstruction from Omnidirectional Images with 3D Gaussian Splattings](https://mlsanity.com/paper/2410.20686/) (2024)
- [Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras](https://mlsanity.com/paper/2207.06058/) (2022)
- [360 Depth Estimation in the Wild -- The Depth360 Dataset and the SegFuse Network](https://mlsanity.com/paper/2202.08010/) (2022)
- [LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane](https://mlsanity.com/paper/2202.12613/) (2022)
- [LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents](https://mlsanity.com/paper/2209.05167/) (2022)
- [CF-NeRF: Camera Parameter Free Neural Radiance Fields with Incremental Learning](https://mlsanity.com/paper/2312.08760/) (2023)
- [3D Scene Geometry Estimation from 360^circ Imagery: A Survey](https://mlsanity.com/paper/2401.09252/) (2024)
- [Visual SLAM: What are the Current Trends and What to Expect?](https://mlsanity.com/paper/2210.10491/) (2022)
- [HybVIO: Pushing the Limits of Real-time Visual-inertial Odometry](https://mlsanity.com/paper/2106.11857/) (2021)
- [360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimation](https://mlsanity.com/paper/2112.06180/) (2021)
- [SmartPortraits: Depth Powered Handheld Smartphone Dataset of Human Portraits for State Estimation, Reconstruction and Synthesis](https://mlsanity.com/paper/2204.10211/) (2022)
- [3D reconstruction from spherical images: A review of techniques, applications, and prospects](https://mlsanity.com/paper/2302.04495/) (2023)
- [OmniSDF: Scene Reconstruction using Omnidirectional Signed Distance Functions and Adaptive Binoctrees](https://mlsanity.com/paper/2404.00678/) (2024)
- [PanFlow: Decoupled Motion Control for Panoramic Video Generation](https://mlsanity.com/paper/2512.00832/) (2025)
- [360ORB-SLAM: A Visual SLAM System for Panoramic Images with Depth Completion Network](https://mlsanity.com/paper/2401.10560/) (2024)
- [OmniLocalRF: Omnidirectional Local Radiance Fields from Dynamic Videos](https://mlsanity.com/paper/2404.00676/) (2024)
- [OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Clouds](https://mlsanity.com/paper/2404.04693/) (2024)
- [Comparison of modern open-source visual SLAM approaches](https://mlsanity.com/paper/2108.01654/) (2021)
- [Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction](https://mlsanity.com/paper/2108.04281/) (2021)
- [VGGT-SLAM++](https://mlsanity.com/paper/2604.06830/) (2026)
- [Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images](https://mlsanity.com/paper/2104.10900/) (2021)
- [UNav: An Infrastructure-Independent Vision-Based Navigation System for People with Blindness and Low vision](https://mlsanity.com/paper/2209.11336/) (2022)
- [PatchMatch-Stereo-Panorama, a fast dense reconstruction from 360deg video images](https://mlsanity.com/paper/2211.16266/) (2022)
- [LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments](https://mlsanity.com/paper/2306.06663/) (2023)
- [D2S: Representing sparse descriptors and 3D coordinates for camera relocalization](https://mlsanity.com/paper/2307.15250/) (2023)

## 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.