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There are many out there .These are some of the state-of-the-art and should give good results

Kinect :

RGBD SLAM

CCNY_RGBD

DVO (Dense Visual Odometry)

demo_rgbd http://wiki.ros.org/demo_rgbd

Camera alone

LSD-SLAM (http://vision.in.tum.de/research/lsdslam) (Latest and should give very good results) (camera alone)

PTAM (many enhancements should be available out there) (a bit old)

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