ROMAN is a view-invariant global localization method that maps open-set objects and uses the geometry, shape, and semantics of objects to find the transformation between a current pose and previous…

[CVPR24] COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Prediction

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

A high-performance ROS2 package for real-time interpolation of 3D LiDAR point clouds. Developed in C++, it supports dynamic configurations, multiple interpolation methods (Bilinear, Bilateral, Spli…

List of Camera Calibration Tools + Patterns

RobotCAD is a FreeCAD workbench to generate robot description packages for ROS2 (URDF) with launchers to Gazebo and RViz.

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Cross-platform C++ library providing a simple API to read and write INI-style configuration files

A C++20 library for fast serialization, deserialization and validation using reflection. Supports JSON, BSON, CBOR, flexbuffers, msgpack, TOML, UBJSON, XML, YAML / msgpack.org[C++20]

A LiDAR visualization tool for all your datasets

[RAL'24] Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences

Official codebase of HyDRa.

[CVPR'24] Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion

Decentralized Multi-Robot Graph Simultaneous Localization and Mapping

Implementation of paper - YOLOv9: Learning What You Want to Learn Using Programmable Gradient Information

Read and write PCL .pcd files in python

PhotoMaker [CVPR 2024]

A template for using VSCode as an IDE for ROS2 development.

Effortless data labeling with AI support from Segment Anything and other awesome models.

A project that optimizes OWL-ViT for real-time inference with NVIDIA TensorRT.

3D LIDAR-based Graph SLAM

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization

Code exercises for the SLAM course in 'Computer Vision, LiDAR processing, and Sensor Fusion for Autonomous Driving' lecture series

Fast, hierarchical, sparse Voxel Grid

top command for ROS 2

LeGO-LOAM-SR: optimizer Lidar Odometry and Mapping for ROS2

A fast and robust point cloud registration library

Kuberenetes / ROS&ROS2 Cluster Samples