GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

DBoW2 but adapted with ORB-SLAM3 and ILLIXR

Visual-Inertial Odometry component of ILLIXR

FFmpeg with the necessary bug fixes for rendering offload