Pi3MOS-SLAM
Dynamic Visual SLAM using a General 3D Prior (CVPR 2026)
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Download Latest Version (.zip)- ANYmal1.txt
- ANYmal2.txt
- ball.txt
- crowd.txt
- person_tracking.txt
- racket.txt
- stones.txt
- table_tracking1.txt
- table_tracking2.txt
- umbrella.txt
- bonn.txt
- sintel.txt
- default.yaml
- __init__.py
- correlation.cpp
- correlation.py
- correlation_kernel.cu
- __init__.py
- augmentation.py
- base.py
- factory.py
- frame_utils.py
- rgbd_utils.py
- tartan.py
- tartan_test.txt
- __init__.py
- ba.cpp
- ba.py
- ba_cuda.cu
- block_e.cu
- block_e.cuh
- common.h
- dispatch.h
- lietorch_cpu.h
- lietorch_gpu.h
- rxso3.h
- se3.h
- sim3.h
- so3.h
- lietorch.cpp
- lietorch_cpu.cpp
- lietorch_gpu.cu
- __init__.py
- broadcasting.py
- gradcheck.py
- group_ops.py
- groups.py
- run_tests.py
- __init__.py
- image_cache.py
- retrieval_dbow.py
- long_term.py
- optim_utils.py
- __init__.py
- ba.py
- blocks.py
- config.py
- dpvo.py
- extractor.py
- logger.py
- net.py
- patchgraph.py
- plot_utils.py
- projective_ops.py
- stream.py
- utils.py
- evaluate_bonn.py
- evaluate_davis.py
- evaluate_rpe.py
- evaluate_sintel.py
- evaluate_wild.py
- LICENSE
- gui.py
- gui_utils.py
- demo1.jpg
- demo2.jpg
- overview.jpg
- supplementary.pdf
- __init__.py
- backbones.py
- utils.py
- __init__.py
- attention.py
- block.py
- dino_head.py
- drop_path.py
- layer_scale.py
- mlp.py
- patch_embed.py
- swiglu_ffn.py
- __init__.py
- vision_transformer.py
- __init__.py
- cluster.py
- config.py
- dtype.py
- param_groups.py
- utils.py
- __init__.py
- attention.py
- block.py
- camera_head.py
- dpt_head.py
- pos_embed.py
- transformer_head.py
- utils.py
- pi3.py
- basic.py
- debug.py
- geometry.py
- download_model.sh
- download_wild_slam_mocap_scene1.sh
- download_wild_slam_mocap_scene2.sh
- download_wild_slam_mocap_umbrella.sh
- eval_traj.py
- plot_utils.py
- .gitignore
- demo.py
- environment.yml
- README.md
- setup.py
# Installation Guide
1. Get the code
git clone https://github.com/PRBonn/Pi3MOS-SLAM
Downloads the entire project code from GitHub to your computer.
cd Pi3MOS-SLAM
Moves into the project folder you just downloaded.
2. Official Install Script
Easy RecommendedPrerequisites
- Python 3 Python is required to use pip.
pip install . --no-build-isolation
Installs the package published on PyPI directly β no need to clone the source.
After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.
Pulled directly from this repo's README.
3. Python
EasyPrerequisites
pip install . --no-build-isolation
Installs the package published on PyPI directly β no need to clone the source.
If it runs without errors and prints output in the terminal, it worked.
Pulled directly from this repo's README.
// repository documentation
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