Elastic FusionElastic Fusion is a Real-time dense visual SLAM system capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera.  It is based on the techniques described in the following publication:

T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison. ElasticFusion: Dense SLAM Without A Pose Graph. RSS, 2015

The Elastic Fusion software is available through the following link and is free to be used for non-commercial purposes.  Full terms and conditions which govern its use are detailed here:


Videos of this software in action are availabe in the videos section of this site.