- ORCA: Robotics Simulator setup
- sba: Generic sparse bundle adjustment in C/C++
- fundest: A C/C++ library for robust, non-linear fundamental matrix estimation
- levmar: Levenberg-Marquardt non-linear least squares in C/C++
- homest: A C/C++ library for robust, non-linear homography estimation
- sparseLM: A C/C++ library for large, arbitrarily sparse non-linear least squares optimization
- posest : A C/C++ Library for Robust 6DoF Pose Estimation from 3D-2D Correspondences
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If you find any of this sofware useful for your research, please give credit in your publications where it is due.