Issues

• Compact landmark slots and bound the Map (no forced map drop on long drives; no_std readiness)

  kornia/kornia-slam#179 · Filter by author edgarriba opened on Oct 30, 2026

• Local BA dominates keyframe frames (p99 105–147 ms): iteration cap, skip second pass, off-thread mapping hooks

  kornia/kornia-slam#178 · Filter by author edgarriba opened on Oct 30, 2026

• Tracking hot path: query_radius and select_local_map_points allocations, BA scratch reuse

  kornia/kornia-slam#177 · Filter by author edgarriba opened on Oct 30, 2026
  1

• Loop closing accepts a 6 m false closure; a path-length jump gate fixes it

  kornia/kornia-slam#176 · Filter by author edgarriba opened on Oct 30, 2026

• Evaluate AnchorFlow-VIO and the LaMAria benchmark (start-time sensitivity)

  kornia/kornia-slam#168 · Filter by author cjpurackal opened on Oct 20, 2026
  3

• Loop-closure PGO burns most LM trials at the f32 noise floor and can drop valid corrections

  bug
  kornia/kornia-slam#166 · Filter by author cjpurackal opened on Oct 18, 2026

• Explore line features for low-texture scenes (Line-Augmented cuVSLAM)

  kornia/kornia-slam#164 · Filter by author cjpurackal opened on Oct 16, 2026
  9

• Per-sensor input API: process_image / process_imu instead of SensorFrame

  enhancement
  kornia/kornia-slam#163 · Filter by author cjpurackal opened on Oct 15, 2026

• Introduce kornia-factors crate for reusable state-estimation factors

  kornia/kornia-slam#160 · Filter by author cjpurackal opened on Oct 12, 2026

• Consolidate keyframe management under mapping/keyframes/ with configurable insertion and culling

  kornia/kornia-slam#159 · Filter by author cjpurackal opened on Oct 12, 2026
  2

• Replace stereo.rs with kornia_3d::stereo::StereoMatcher

  enhancementhelp wanted
  kornia/kornia-slam#151 · Filter by author edgarriba opened on Oct 8, 2026
  1

• fix(mapping): map culling over-culls valid points by checking all keyframes instead of reference keyframe

  kornia/kornia-slam#144 · Filter by author GiGiKoneti opened on Oct 4, 2026
  1

• Dense / TSDF consistency when fusing depth with fixed SLAM poses

  enhancement
  kornia/kornia-slam#141 · Filter by author cjpurackal opened on Oct 4, 2026
  2

• Long-sequence consistency (tens of minutes → hours)

  enhancement
  kornia/kornia-slam#140 · Filter by author cjpurackal opened on Oct 4, 2026
  1

• Dynamic-object-aware tracking (reject moving people/hands/objects)

  enhancement
  kornia/kornia-slam#139 · Filter by author cjpurackal opened on Oct 4, 2026
  1

• Add multi-camera + IMU support

  enhancement
  kornia/kornia-slam#138 · Filter by author cjpurackal opened on Oct 1, 2026
  1

• Submit kornia-slam to the LaMAria SLAM leaderboard (ETH Zurich)

  kornia/kornia-slam#78 · Filter by author cjpurackal opened on Sep 12, 2026
  

• Integrate with ros2_rust

  kornia/kornia-slam#75 · Filter by author cjpurackal opened on Sep 2, 2026

• AprilTag-Based Sim3 Scale & Pose Correction for Monocular SLAM Maps

  kornia/kornia-slam#71 · Filter by author AdarshGuptaa opened on Aug 29, 2026
  2

• Luxonis OAK-D integration: stereo-inertial support and outreach to Luxonis

  enhancement
  kornia/kornia-slam#70 · Filter by author cjpurackal opened on Aug 28, 2026

• Appearance-change robustness (day/night, lighting): measure it before fixing it

  enhancement
  kornia/kornia-slam#68 · Filter by author cjpurackal opened on Aug 27, 2026
  2

• RFC: Atlas — a manifold-native estimation and inference foundation (architecture)

  kornia/kornia-slam#59 · Filter by author cjpurackal opened on Aug 7, 2026
  2

  

• Explore XFeat as the feature extractor (descriptor-type migration)

  kornia/kornia-slam#49 · Filter by author cjpurackal opened on Jun 30, 2026
  1

• Explore DINOv3 global descriptor as a place-recognition front-end for relocalization

  kornia/kornia-slam#48 · Filter by author cjpurackal opened on Jun 30, 2026
  7