The instantreality-framework is a high-performance Mixed Reality (MR) system, which combines various components to provide a single and consistent interface for AR/VR developers. Those components have been developed at the Fraunhofer IGD and ZGDV in close cooperation with the industry.

SceneLib is an open-source C++ library for SLAM designed and implemented by Andrew Davison with additional work by Paul Smith. Importantly, SceneLib depends in part on the open source VW34 library for computer vision developed at Oxford's Active Vision Lab

Here you may download a reference implementation of the SLAM system described in our ISMAR 2007 paper (with the relocaliser from the ECCV'08 paper, and a Faugeras-Lustman initialiser instead of 5PP). This implementation was developed on Linux but should also compile on OSX and Win32 (With Visual Studio)