Open Source SLAM Software

Author Description Link
Kai Arras
The CAS Robot Navigation Toolbox, a Matlab simulation toolbox for robot localization and mapping.
www.cas.kth.se/toolbox/index.html

Tim Bailey Matlab simulators for EKF-SLAM, UKF-SLAM,and FastSLAM 1.0 and 2.0.
www.acfr.usyd.edu.au/homepages/academic/tbailey/software/index.html

Mark Paskin Java library with several SLAM variants, including Kalman filter, information filter, and thin junction tree forms. Includes a Matlab interface.
www.stanford.edu/~paskin/slam/

Andrew Davison Scene, a C++ library for map-building and localisation. Facilitates real-time single camera SLAM.
www.doc.ic.ac.uk/~ajd/Scene/index.html

Jos ́ Neira
e Matlab EKF-SLAM simulator that demonstrates joint compatibility branch-and-bound data association.
http://webdiis.unizar.es/~neira/software/slam/slamsim.htm


Dirk H ̈hnel
a C language grid-based version of FastSLAM.
www.informatik.uni-freiburg.de/~haehnel/old/download.html

Various Matlab code from the 2002 SLAM summer school.
www.cas.kth.se/slam/toc.html

Table 2: Online Datasets
Author Description Link
Jose Guivant, Juan Nieto Numerous large-scale outdoor datasets, notably and Eduardo Nebot the popular Victoria Park data.
www.acfr.usyd.edu.au/homepages/academic/enebot/dataset.htm


Chieh-Chih Wang Three large-scale outdoor datasets collected by the Navlab11 testbed.
www.cs.cmu.edu/~bobwang/datasets.html


Radish (The Robotics Many and varied indoor datasets, including large-Data Set Repository) area data from the CSU Stanislaus library, the
Intel Research Lab in Seattle, the Edmonton Con-
vention Centre, and more.
http://radish.sourceforge.net/

IJRR (The International IJRR maintains a webpage for each article, often Journal of Robotics Research containing data and video of results. A good example is a paper by Bosse et al. [3], which has data from Killian Court at MIT.
www.ijrr.org/contents/2312/abstract/1113.html