VisualGeometryCore.jl
Geometric primitives, transforms, camera models, coordinate frames and normalization, and the minimal solvers and robust-estimation building blocks the rest of the toolkit shares.
Visual Geometry Toolkit
Julia packages for multi-view geometry: primitives, features, robust estimation, RANSAC scoring and evaluation
Ecosystem
Nine packages built on one core. An arrow points from a package to a package it depends on (indirect dependencies omitted); dashed nodes are the papers each package accompanies. Click a node to open it.
flowchart TB
LODR@{ img: "icons/lodr.svg", label: "LocalOptimizationDoneRight.jl", pos: "b", w: 72, h: 72, constraint: "on" }
BB@{ img: "icons/blobboards.svg", label: "BlobBoards.jl", pos: "b", w: 72, h: 72, constraint: "on" }
VGEval@{ img: "icons/vgeval.svg", label: "VisualGeometryEval.jl", pos: "b", w: 72, h: 72, constraint: "on" }
PL@{ img: "icons/poselib.svg", label: "PoseLib.jl", pos: "b", w: 72, h: 72, constraint: "on" }
RVG@{ img: "icons/rvg.svg", label: "RobustVisualGeometry.jl", pos: "b", w: 72, h: 72, constraint: "on" }
VGF@{ img: "icons/vgf.svg", label: "VisualGeometryFeatures.jl", pos: "b", w: 72, h: 72, constraint: "on" }
RSDR@{ img: "icons/rsdr.svg", label: "RansacScoringDoneRight.jl", pos: "b", w: 72, h: 72, constraint: "on" }
VGIo@{ img: "icons/vgio.svg", label: "VisualGeometryIo.jl", pos: "b", w: 72, h: 72, constraint: "on" }
VGC@{ img: "icons/vgc.svg", label: "VisualGeometryCore.jl", pos: "b", w: 72, h: 72, constraint: "on" }
P2(["ACCV 2026"])
P3(["BMVC 2026"])
P1(["NeurIPS 2026"])
P2 -.- LODR
P3 -.- BB
P1 -.- RSDR
LODR --> RVG
LODR --> VGEval
LODR --> PL
BB --> RVG
BB --> VGF
BB --> VGIo
VGEval --> VGIo
RVG --> RSDR
PL --> VGC
VGF --> VGC
RSDR --> VGC
VGIo --> VGC
classDef paper stroke-dasharray:4 3
class P1,P2,P3 paper
click VGC href "https://visualgeometrytoolkit.github.io/VisualGeometryCore.jl/" _blank
click VGIo href "https://github.com/VisualGeometryToolkit/VisualGeometryIo.jl" _blank
click VGF href "https://github.com/VisualGeometryToolkit/VisualGeometryFeatures.jl" _blank
click VGEval href "https://github.com/VisualGeometryToolkit/VisualGeometryEval.jl" _blank
click RSDR href "https://ransacscoringdoneright.github.io" _blank
click RVG href "https://visualgeometrytoolkit.github.io/RobustVisualGeometry.jl/" _blank
click PL href "https://github.com/VisualGeometryToolkit/PoseLib.jl" _blank
click LODR href "https://localoptimizationdoneright.github.io" _blank
click BB href "https://blobboards.github.io" _blank
click P1 href "https://arxiv.org/abs/2606.27385" _blank
click P2 href "https://arxiv.org/abs/2610.05743" _blank
click P3 href "https://arxiv.org/abs/2608.28830" _blank
Packages
VisualGeometryIo.jl
Serialization for transforms and cameras: a COLMAP model reader and writer, and a small self-describing JSON schema for named rigid transforms with explicit units.
VisualGeometryFeatures.jl
Feature detection, description and matching: ASIFT detection and nearest-neighbour matching in one KernelAbstractions implementation for the CPU and GPUs.
VisualGeometryEval.jl
The shared evaluation base: dataset readers, correspondence pools, statistics and bootstrap intervals, cross-validated tuning and the experiment framework.
RansacScoringDoneRight.jl
Scale-free marginal RANSAC scoring with CPU and GPU evaluators: rank hypotheses without knowing the inlier scale.
RobustVisualGeometry.jl
Robust estimation for geometric vision: the RANSAC loop, local-optimization engines, and problems for lines, homographies, fundamental and essential matrices and absolute pose.
PoseLib.jl
Julia bindings to the PoseLib C++ library: minimal solvers for relative and absolute pose, homographies and fundamental matrices, and its robust refiners.
LocalOptimizationDoneRight.jl
The local-optimization evaluation engine: refit, score and compare LO strategies for essential, fundamental and homography estimation under one budget.
BlobBoards.jl
Blob marker boards: author printable boards, detect and identify them in images, and estimate their pose from hundreds of blob correspondences.
Get started
There is no meta-package: add the package for what you want to do, and its dependencies come with it. The packages require Julia 1.12.
Geometry primitives, cameras and transforms
using Pkg
Pkg.add("VisualGeometryCore")Feature detection and matching
using Pkg
Pkg.add("VisualGeometryFeatures")Robust estimation
using Pkg
Pkg.add("RobustVisualGeometry")
# brings VisualGeometryCore and RansacScoringDoneRightA paper's package
Pkg.add("RansacScoringDoneRight") # NeurIPS 2026
Pkg.add("LocalOptimizationDoneRight") # ACCV 2026
Pkg.add("BlobBoards") # BMVC 2026The packages are being registered in the Julia General registry. Until a package is registered, add it from its GitHub repository: Pkg.add(url = "https://github.com/VisualGeometryToolkit/<Name>.jl").
Papers
NeurIPS 2026
RANSAC Scoring Done Right
ACCV 2026
Robust Local Optimization Done Right
BMVC 2026