kornia-slam
- Software
- Navigation and mapping
- Library
A Rust library and app for real-time visual-inertial SLAM, built on kornia-rs, covering monocular, stereo and inertial setups with loop closing.
Made by kornia.
Source on GitHub: github.com/kornia/kornia-slam (opens in a new tab). Facts read at commit 05ea01c (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 05ea01c (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Runs monocular, stereo and visual-inertial ORB SLAM, with local bundle adjustment including visual-inertial BA.
- Detects place recognition with DBoW2 and closes loops with pose-graph optimization, using an ORB-SLAM3 vocabulary file.
- Reads EuRoC, Hilti, MCAP, OAK-D and UVC webcam sources; live OAK-D and UVC support needs a build with extra features.
- Offers a terminal UI, Rerun streaming and ATE/RPE evaluation against ground truth.
- Exposes a Rust library where a system configuration and sensor rig build a SlamSystem that processes frames and returns poses.
- Can be driven from RON run files, and integrates with Copper as stereo visual-inertial odometry tasks.
Written by Robotheca from the project's README (opens in a new tab) at commit 05ea01c.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 17 Oct 2026 on main
- Latest release
- v0.1.0 (27 Sept 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.