Visual Geometry Toolkit

Julia packages for multi-view geometry: primitives, features, robust estimation, RANSAC scoring, evaluation, fiducial markers and calibration

Marine Data Science · Kiel University

Ecosystem

Ten packages built on one core. Each package builds on the ones above it (direct dependencies, as the stack's dependency allow-list permits them; edges implied through another package are omitted). A dashed arrow is an optional dependency (package extension); the dashed pills are the papers the packages accompany. Click a node to open it.

flowchart TD
    VGC["<img class='nicon' src='icons/vgc.svg' width='24' height='24'>VisualGeometryToolkitCore"]
    VGF["<img class='nicon' src='icons/vgf.svg' width='24' height='24'>VisualGeometryToolkitFeatures"]
    VGIo["<img class='nicon' src='icons/vgio.svg' width='24' height='24'>VisualGeometryToolkitIO"]
    RVG["<img class='nicon' src='icons/rvg.svg' width='24' height='24'>VisualGeometryToolkitEstimation"]
    PL["<img class='nicon' src='icons/poselib.svg' width='24' height='24'>PoseLib"]
    RSDR["<img class='nicon' src='icons/rsdr.svg' width='24' height='24'>RANSACScoringDoneRight"]
    LODR["<img class='nicon' src='icons/lodr.svg' width='24' height='24'>LocalOptimizationDoneRight"]
    VGEval["<img class='nicon' src='icons/vgeval.svg' width='24' height='24'>VisualGeometryToolkitEval"]
    BB["<img class='nicon' src='icons/blobboards.svg' width='24' height='24'>BlobBoards"]
    PS["<img class='nicon' src='icons/panorama.svg' width='24' height='24'>PanoramaStitching"]

    VGC --> VGF
    VGC --> VGIo
    VGC --> RVG
    VGC --> PL
    VGC --> RSDR
    VGIo --> VGEval
    RVG --> VGEval
    RVG --> LODR
    PL -.-> LODR
    VGF --> BB
    VGIo --> BB
    RSDR --> BB
    LODR --> BB
    VGF --> PS
    RVG --> PS

    P1(["NeurIPS 2026"])
    P2(["ACCV 2026"])
    P3(["BMVC 2026"])

    RSDR -.- P1
    LODR -.- P2
    BB -.- P3

    class P1,P2,P3 paper

    click VGC href "https://visualgeometrytoolkit.github.io/VisualGeometryToolkitCore/" _blank
    click VGIo href "https://visualgeometrytoolkit.github.io/VisualGeometryToolkitIO/" _blank
    click VGF href "https://visualgeometrytoolkit.github.io/VisualGeometryToolkitFeatures/" _blank
    click VGEval href "https://visualgeometrytoolkit.github.io/VisualGeometryToolkitEval/" _blank
    click RSDR href "https://ransacscoringdoneright.github.io" _blank
    click RVG href "https://visualgeometrytoolkit.github.io/VisualGeometryToolkitEstimation/" _blank
    click PL href "https://visualgeometrytoolkit.github.io/PoseLib/" _blank
    click LODR href "https://localoptimizationdoneright.github.io" _blank
    click BB href "https://blobboards.github.io" _blank
    click PS href "https://visualgeometrytoolkit.github.io/PanoramaStitching.jl/dev/" _blank
    click P1 href "https://arxiv.org/pdf/2606.27385" _blank
    click P2 href "https://arxiv.org/pdf/2610.05743" _blank
    click P3 href "https://arxiv.org/pdf/2608.28830" _blank

Packages

VisualGeometryToolkitCore.jl

The types and algorithms of multiple-view geometry: coordinate frames, camera and lens models, geometric primitives, projective transforms and minimal solvers, with physical units throughout, and the contracts the toolkit's robust estimators implement.

pkg> add VisualGeometryToolkitCore · General

docs code

VisualGeometryToolkitIO.jl

File formats for the stack: cameras, poses, rigs, trajectories and target measurements as self-describing JSON files that declare their conventions (pixel frame, length unit, rotation encoding, pose direction), plus COLMAP models and databases.

pkg> add VisualGeometryToolkitIO · General

docs code

VisualGeometryToolkitFeatures.jl

Feature detection, description and matching: ASIFT detection and nearest-neighbour descriptor matching in one KernelAbstractions implementation for the CPU and every GPU backend.

pkg> add VisualGeometryToolkitFeatures · General

docs code

VisualGeometryToolkitEstimation.jl

Robust estimation for geometric vision: one generic RANSAC loop and the problems for lines, homographies, fundamental and essential matrices, absolute pose, radial cameras, relative-pose bundle refinement, and hand-eye and robot-world calibration.

pkg> add VisualGeometryToolkitEstimation · General

docs code

VisualGeometryToolkitEval.jl

The evaluation package: pose-error statistics with bootstrap intervals, cross-validated hyperparameter tuning configured in TOML, an evaluator that composes a RANSAC scorer with a local optimizer, pool and dataset readers, and a framework for reproducible experiments.

pkg> add VisualGeometryToolkitEval · General

docs code

PoseLib.jl

Julia bindings to PoseLib, the C++ library of minimal solvers and robust refiners for camera pose estimation by Viktor Larsson and contributors.

pkg> add PoseLib · General

docs code

RANSACScoringDoneRight.jl

The scale-free marginal score for RANSAC: the best inlier partition with the inlier scale integrated out, so no inlier threshold is set, plus baseline scorers and CPU and GPU pool evaluators.

pkg> add RANSACScoringDoneRight · General

docs code

LocalOptimizationDoneRight.jl

The paper's robust local optimizers, ready to compose into any RANSAC of the stack, for essential matrix, fundamental matrix and homography estimation.

pkg> add LocalOptimizationDoneRight · CauRegistry, General pending

docs code

BlobBoards.jl

A fiducial marker system: printable boards covered in a dense, multi-scale field of Gaussian blobs, found, identified and posed from hundreds of blob correspondences on the CPU or a GPU.

pkg> add BlobBoards · CauRegistry, General pending

docs code

PanoramaStitching.jl

The panorama of a camera that only rotated, through a calibrated lens of any field of view (fisheyes past 90° included): frame rotations by RANSAC on bearings, robust rotation averaging and a rotation bundle.

pkg> add PanoramaStitching · CauRegistry, General pending

docs code

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

pkg> add VisualGeometryToolkitCore

Feature detection and matching

pkg> add VisualGeometryToolkitFeatures

Robust estimation

pkg> add VisualGeometryToolkitEstimation
pkg> add RANSACScoringDoneRight   # NeurIPS 2026 scorer

From CauRegistry, until General merges

pkg> registry add https://github.com/prittjam/CauRegistry.jl
pkg> add LocalOptimizationDoneRight   # ACCV 2026
pkg> add BlobBoards                   # BMVC 2026
pkg> add PanoramaStitching

VisualGeometryToolkitCore, VisualGeometryToolkitIO, VisualGeometryToolkitFeatures, VisualGeometryToolkitEstimation, VisualGeometryToolkitEval, PoseLib and RANSACScoringDoneRight are in the Julia General registry. LocalOptimizationDoneRight, BlobBoards and PanoramaStitching are in CauRegistry, with their General registrations pending; add CauRegistry once, as above.

Publications

Software

The Visual Geometry Toolkit

Cite the packages you use with this entry, and the papers below for their methods.

doi code

bibtex

@software{pritts2026vgtk,
  title   = {{VisualGeometryToolkit.jl}: Julia Packages for Multiple-View Geometry},
  author  = {Pritts, James and Sauer, Hendrik},
  year    = {2026},
  doi     = {10.5281/zenodo.23548372},
  url     = {https://github.com/VisualGeometryToolkit/VisualGeometryToolkit.jl},
  license = {MIT}
}

NeurIPS 2026

RANSAC Scoring Done Right

James Pritts, Felix Seegräber, Kevin Köser

pdf project

bibtex

@inproceedings{pritts2026ransac,
  title     = {RANSAC Scoring Done Right},
  author    = {Pritts, James and Seegr{\"a}ber, Felix and K{\"o}ser, Kevin},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year      = {2026},
  eprint    = {2606.27385},
  archivePrefix = {arXiv}
}

ACCV 2026

Robust Local Optimization Done Right

James Pritts, Kevin Köser

pdf project

bibtex

@inproceedings{pritts2026localopt,
  title     = {Robust Local Optimization Done Right},
  author    = {Pritts, James and K{\"o}ser, Kevin},
  booktitle = {Asian Conference on Computer Vision (ACCV)},
  year      = {2026},
  eprint    = {2610.05743},
  archivePrefix = {arXiv}
}

BMVC 2026

BlobBoards: Robust Markers for Accurate Pose

James Pritts, Till Sittart, Hendrik Sauer, Silja Janßen, Felix Seegräber, David Nakath, Kevin Köser

pdf project data

bibtex

@inproceedings{pritts2026blobboards,
  author    = {Pritts, James and Sittart, Till and Sauer, Hendrik and Jan{\ss}en, Silja and Seegr{\"a}ber, Felix and Nakath, David and K{\"o}ser, Kevin},
  title     = {{BlobBoards}: Robust Markers for Accurate Pose},
  booktitle = {British Machine Vision Conference (BMVC)},
  year      = {2026},
  eprint    = {2608.28830},
  archivePrefix = {arXiv}
}