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Slam
Real-time Stereo Visual SLAM Pipeline with Bundle Adjustment
A real-time system that simultaneously captures human pose, reconstructs the scene in sparse 3D points, and localizes the human in the scene with 6 IMUs and a body-worn phone camera
Movement trajectory classes and functions built on top of GeoPandas
small, powerful and beautiful slam tricks with theory and practice
kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.
Provide mapping and localization pipelines based on kapture format
TartanAir dataset tools and samples
slamplay is a collection of powerful tools to start playing and experimenting with SLAM in C++
Code, data, and results for fusing raw GNSS data with other sensing modalities
Official Implementation of the Paper: Ego-Body Pose Estimation via Ego-Head Pose Estimation (CVPR 2023)
[IROS-21] RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments (Code & Dataset)
A robust sensor fusion library for online localization.
Point-SLAM: Dense Neural Point Cloud-based SLAM
Education, research and development using the Simultaneous Localization and Mapping (SLAM) method.
SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)
MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework
Code for "Point2CAD: Reverse Engineering CAD Models from 3D Point Clouds"
This repo is designed for General Robotic Operation System
[3DV 2025] Code for "FlowMap: High-Quality Camera Poses, Intrinsics, and Depth via Gradient Descent" by Cameron Smith*, David Charatan*, Ayush Tewari, and Vincent Sitzmann
[CV4AEC Workshop CVPR 2024] Dataset + Evaluation Metrics
[CVPR'24] LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry
The repo for "Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Image" and "Metric3Dv2: A Versatile Monocular Geometric Foundation Model..."
Recent multi-robot projects and papers: Including SLAM, place recognition, Large Language Models navigation. (continually updated)