SFM-AR-Visual-SLAM Visual SLAM GSLAM General SLAM Framework which supports feature based or direct method and different sensors including monocular camera, RGB-D sensors or any other input types can be handled. https://github.com/zdzhaoyong/GSLAM OKVIS: Open Keyframe-based Visual-Inertial SLAM http://ethz-asl.github.io/okvis/index.html Uncertainty-aware Receding Horizon Exploration and Mapping Pla