Kornia-rs: A Low-Level 3D Computer Vision Library In Rust

We present textitkornia-rs, a high-performance 3D computer vision library written entirely in native Rust, designed for safety-critical and real-time applications. Unlike C++-based libraries like OpenCV or wrapper-based solutions like OpenCV-Rust, textitkornia-rs is built from the ground up to leverage Rust's ownership model and type system for memory and thread safety. textitkornia-rs adopts a statically-typed tensor system and a modular set of crates, providing efficient image I/O, image processing and 3D operations. To aid cross-platform compatibility, textitkornia-rs offers Python bindings, enabling seamless and efficient integration with Rust code. Empirical results show that textitkornia-rs achieves a 3~ 5 times speedup in image transformation tasks over native Rust alternatives, while offering comparable performance to C++ wrapper-based libraries. In addition to 2D vision capabilities, textitkornia-rs addresses a significant gap in the Rust ecosystem by providing a set of 3D computer vision operators. This paper presents the architecture and performance characteristics of textitkornia-rs, demonstrating its effectiveness in real-world computer vision applications.