pySLAM-D: an open-source library for localization and mapping for depth cameras

pySLAM-D is a SLAM repository for RGB-D images in python that computes the camera trajectory and yields a 3D reconstruction of the scene. This code is suitable for Reinforcement Learning purposes and utilizes existing C++ libraries for fast and robust visual odometry, loop-closure detection, and pose graph optimization. We have tested this code for visual SLAM in the Habitat-Sim environment.

This repository is available here.