Open-source alternatives to Ceres Solver

Kalibr is a software suite for multi-camera calibration and visual-inertial parameter estimation. It provides a mathematical framework for determining intrinsic and extrinsic parameters across multiple cameras and calculating the spatio-temporal offsets between cameras and inertial measurement units. The project features a non-linear least-squares optimizer to minimize reprojection and inertial errors. It includes specialized tools for rolling-shutter camera calibration to estimate projection and distortion parameters for sensors that capture images row-by-row. The system covers a broad rang

This project is a comprehensive Chinese translation of a technical deep learning textbook, providing an educational resource on the theory and implementation of neural networks. It functions as a collaborative technical translation project designed to make complex academic AI literature accessible to non-English speakers. The project utilizes a community-driven translation model that integrates external suggestions and pull requests to refine linguistic accuracy and reduce bias. It employs standardized terminology mapping to ensure a uniform vocabulary throughout the translated content. To i

g2o: A General Framework for Graph Optimization

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Extensible Optimization Framework

This project is a numerical computing library designed for scientific and engineering mathematical operations. It functions as a comprehensive linear algebra framework, a statistical analysis library, and a toolkit for mathematical optimization and numerical integration. The library is distinguished by its provider-based native acceleration, which allows managed code to be swapped for platform-native binary libraries to increase the performance of computationally intensive routines. It also supports a hybrid approach to matrix storage, implementing separate strategies for dense and sparse mat

This project is a static educational website and comprehensive curriculum focused on computer vision and deep learning. It serves as a public repository of instructional materials, lecture notes, and technical guides specifically detailing convolutional neural networks and visual recognition. The site is developed using static-site generation to host course documentation and student project directories. It provides structured academic resources that guide learners through image classification, generative modeling, and the implementation of various neural network architectures. The curriculum

ArrayFire is a hardware-agnostic compute framework and JIT-compiled tensor engine designed for high-performance numerical computing. It serves as a GPU numerical computing library and parallel signal processing toolkit that abstracts hardware backends, allowing the same codebase to execute across various GPU architectures and CPUs. The project distinguishes itself through a JIT engine that uses expression compilation to fuse operations and minimize memory overhead. It employs a deferred execution graph to optimize computation chains and provides interoperability primitives to share data and e

Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and verifying the dynamics of complex robotic systems. It functions as a multibody dynamics simulator and a mathematical optimization library, providing a suite of algorithms for trajectory optimization and the simulation of articulated robots. The framework is distinguished by its block-diagram system for composing dynamical subsystems and its ability to formulate and solve diverse mathematical programs, including linear, quadratic, and nonconvex nonlinear problems. It supports specializ

cuml is a GPU-accelerated machine learning library and framework that uses CUDA to accelerate tabular data preprocessing and model execution. It provides a suite of tools for training and deploying classification, regression, and clustering models on NVIDIA GPUs and GPU clusters. The library is designed for scalability, offering a distributed GPU machine learning environment that can spread computation and data across multiple hardware accelerators and nodes to handle datasets exceeding single-device memory. It mirrors standard estimator interfaces to allow the replacement of CPU-based models

Slambook is a visual SLAM framework designed for simultaneous localization and mapping. It provides an integrated system to estimate camera motion and reconstruct 3D environments using visual sensor data. The project includes a visual odometry engine to track camera movement and a dense 3D reconstruction tool for creating volumetric representations of scenes. It features a loop closure detection system to recognize previously visited locations and a pose graph optimizer to refine trajectories and ensure global map consistency. The framework covers spatial estimation and environment modeling

Optim.jl is a numerical optimization library for the Julia programming language, providing a comprehensive framework for minimizing or maximizing univariate and multivariate functions. It offers a suite of tools for solving both constrained and unconstrained mathematical problems, utilizing a variety of gradient-based, derivative-free, and stochastic search methods. The library distinguishes itself through a modular architecture that leverages language-level multiple dispatch to automatically select efficient solvers based on input data types and objective function properties. It supports com

FinceptTerminal is a quantitative finance platform and financial engineering library designed for asset valuation, risk management, and fixed-income analytics. It provides a comprehensive suite for algorithmic trading and investment strategy automation, integrating specialized language model agents and node-based workflows to automate market research and alpha generation. The project distinguishes itself with a dedicated game theory analysis engine for calculating Nash equilibria and simulating strategic interactions in competitive markets. It also features a specialized credit risk modeling

OpenSfM is a computer vision library and structure-from-motion pipeline designed to reconstruct three-dimensional scenes and camera trajectories from overlapping images. It functions as a 3D reconstruction engine and photogrammetry toolkit, utilizing automated feature-based image matching and incremental bundle adjustment to derive spatial geometry. The system distinguishes itself as a geospatial alignment tool, integrating GPS and inertial sensor data to align reconstructed 3D models with real-world geographic coordinates. It employs a hybrid Python and C++ execution model to manage large-sc

openMVG is a computer vision geometry library and toolkit for multiple view geometry. It serves as a framework for structure from motion and 3D scene reconstruction, providing the tools necessary to recover 3D point clouds and camera poses from collections of 2D images. The library implements both global and incremental structure-from-motion pipelines. It uses geometric algorithms to calculate camera pose estimation and image localization, employing Levenberg-Marquardt bundle adjustment to refine 3D coordinates and camera parameters by minimizing reprojection error. The project covers a broa

This repository serves as an educational resource and framework for scientific computing, focusing on the intersection of machine learning and physical system simulation. It provides a collection of instructional materials, including handwritten notes and code examples, designed to explain the mathematical foundations of probabilistic modeling and algorithmic implementation. The project functions as a physics simulation framework, utilizing finite element discretization and automatic differentiation to model fluid and structural mechanics. By integrating these numerical methods with iterative

COLMAP is a 3D scene reconstruction suite and C++ geometry library that implements a full structure-from-motion pipeline. It functions as a GPU-accelerated photogrammetry tool and multi-view stereo framework designed to produce dense 3D geometry and watertight meshes from collections of 2D images. The project distinguishes itself through hardware-accelerated feature extraction and a modular camera modeling system that supports perspective, fisheye, and equirectangular lens types. It employs vocabulary tree image retrieval to efficiently identify similar images in large datasets and provides P

ORB_SLAM3 is a visual-inertial SLAM library designed for real-time simultaneous localization and mapping. It provides a framework for tracking camera movement and building 3D maps of environments using monocular, stereo, or RGB-D cameras combined with inertial sensors. The system features a multi-map fusion engine capable of merging separate spatial sessions into a single seamless representation of an environment. It includes specialized processing for wide-angle and fisheye lenses to expand the visual field of view for spatial tracking. The library covers a broad range of spatial intelligen

VINS-Fusion is a multi-sensor fusion framework and visual-inertial odometry system. It integrates camera images, inertial measurement unit data, and global positioning signals through a non-linear optimization system to track the position and orientation of autonomous vehicles. The system includes a visual loop closure engine that utilizes a bag-of-words approach to recognize previously visited locations and correct trajectory drift. It further provides tools for online spatio-temporal calibration to determine the physical offset and time synchronization between cameras and inertial sensors d

Symbolics.jl is a foundational framework for symbolic mathematics, automated differentiation, and scientific compilation within the Julia programming language. It provides a comprehensive system for algebraic manipulation, expression simplification, and the construction of mathematical models, enabling users to represent complex physical and chemical systems as symbolic equations. The library distinguishes itself through a source-to-source compilation engine that translates high-level symbolic representations directly into optimized, parallelized, and hardware-specific numerical code. By util

Geometry-central is a C++ framework designed for 3D geometry processing, surface analysis, and numerical computation. It provides a foundational toolkit for performing discrete differential geometry operations on manifold surface meshes, enabling the analysis and manipulation of complex 3D structures. The library distinguishes itself through its support for intrinsic triangulation processing, which allows for the execution of geometric algorithms independently of vertex positions to maintain stability under deformation. It utilizes a half-edge mesh representation to facilitate constant-time t

This project is a robotics software package designed for simultaneous localization and mapping, providing a framework for visual-inertial odometry and environmental mapping. It functions as a middleware-integrated library that enables autonomous mobile robots to estimate their position and orientation by processing sensor data within modular software systems. The library distinguishes itself by utilizing hardware-accelerated processing to perform feature tracking and odometry calculations on dedicated graphics hardware. It maintains spatial accuracy through graph-based optimization and statis

This project is an educational resource providing practical code examples and implementations of machine learning algorithms using the Python language. It serves as a guide for constructing predictive pipelines, clustering models, and dimensionality reduction within the Scikit-Learn ecosystem. The repository includes comprehensive demonstrations for supervised and unsupervised learning, as well as detailed examples for implementing neural networks and deep architectures. It also provides practical guidance on exporting model parameters to JSON and wrapping trained models in web APIs for produ

Scanpy is a Python library for the preprocessing, visualization, and analysis of large-scale single-cell gene expression datasets. It serves as a toolkit for single-cell RNA sequencing analysis, providing a framework to process and analyze genomic data from individual cells to identify biological markers and cell types. The library includes a scalable data processing pipeline for cleaning and preparing genomic data, a clustering framework for grouping cells with similar expression profiles, and a system for modeling transitions between cell states to reconstruct biological development and dif

DeepLearningZeroToAll is a comprehensive educational resource and implementation collection focused on deep learning and machine learning. It provides a structured learning path using TensorFlow to move from foundational linear models to complex neural network architectures. The project is distinguished by its practical implementations of various network types, including multilayer perceptrons for logic problems, convolutional neural networks for spatial data and image recognition, and recurrent neural networks using LSTM cells for time-series forecasting and character sequence prediction. It

Cartographer is a software library and spatial localization engine for simultaneous localization and mapping. It provides a framework for calculating the precise position and orientation of a device while concurrently generating real-time 2D and 3D representations of its environment using lidar-based data. The system implements a real-time mapping approach that uses live sensor streams to track device heading and position. It utilizes a submap-based mapping strategy to divide environments into local maps that are aligned into a global map. The project covers a range of SLAM capabilities, inc

This project is a comprehensive library and toolkit for simultaneous localization and mapping, designed to construct three-dimensional environment models while tracking device position. It functions as a robotics perception framework that processes data from RGB-D, stereo, and lidar sensors to enable autonomous navigation and spatial awareness. The system distinguishes itself through its focus on long-term mapping and global consistency. It employs a sophisticated loop-closure detection engine and graph-based pose optimization to identify previously visited locations and eliminate cumulative