diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..0663916
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,12 @@
+[submodule "DBoW2"]
+	path = DBoW2
+	url = https://github.com/shinsumicco/DBoW2.git
+[submodule "g2o"]
+	path = g2o
+	url = https://github.com/RainerKuemmerle/g2o.git
+[submodule "Pangolin"]
+	path = Pangolin
+	url = https://github.com/stevenlovegrove/Pangolin.git
+[submodule "openvslam"]
+	path = openvslam
+	url = https://github.com/isro01/openvslam
diff --git a/DBoW2 b/DBoW2
new file mode 160000
index 0000000..e8cc74d
--- /dev/null
+++ b/DBoW2
@@ -0,0 +1 @@
+Subproject commit e8cc74d24705d0ad61b68df4e1086d1deff67136
diff --git a/Pangolin b/Pangolin
new file mode 160000
index 0000000..ad8b5f8
--- /dev/null
+++ b/Pangolin
@@ -0,0 +1 @@
+Subproject commit ad8b5f83222291c51b4800d5a5873b0e90a0cf81
diff --git a/g2o b/g2o
new file mode 160000
index 0000000..9b41a4e
--- /dev/null
+++ b/g2o
@@ -0,0 +1 @@
+Subproject commit 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
diff --git a/openvslam b/openvslam
new file mode 160000
index 0000000..93466cf
--- /dev/null
+++ b/openvslam
@@ -0,0 +1 @@
+Subproject commit 93466cf3a4cdb4842327f2316b01e57779168f14