RKSLAM is a real-time monocular simultaneous localization and mapping system which can robustly work in challenging cases, such as fast motion and strong rotation. It is for non-commercial research and educational use ONLY. Not for reproduction, distribution or commercial use. If you use this software for your academic publication, please acknowledge our work. We will actively update the program. Please email Guofeng Zhang if you have any questions.


  • Simultaneous Localization and Mapping:
    • Haomin Liu, Guofeng Zhang* and Hujun Bao*. Robust Keyframe-based Monocular SLAM for Augmented Reality. International Symposium on Mixed and Augmented Reality (ISMAR), 2016.[pdf][video]


  • Datasets with executable
  • Click here to download the RKSLAM Executable.
    • Windows version
    • Android Demo: App and User Mannual. This App requires Android 5.1.1 or above (recommend Android 6.0). Android 5.0 has a bug in reading camera image data and cannot show the live image accurately. Chen Li helped in porting the SLAM core code to Android platform and Kuan Lu developed the UI and Augmented Reality component based on our SLAM SDK.
    • iOS version (coming soon)
  • SDK (coming soon)
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