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Official code release for ConceptGraphs
COLMAP - Structure-from-Motion and Multi-View Stereo
Revisiting Geometric Constraint for Monocular Visual Quadric SLAM
A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.
Source code of paper "N3-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping"
Monte Carlo Localization using Neural Radiance Fields
A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as …
Detectron2 is a platform for object detection, segmentation and other visual recognition tasks.
Fast, modular reference implementation of Instance Segmentation and Object Detection algorithms in PyTorch.
RO-MAP: Real-Time Multi-Object Mapping with Neural Radiance Fields
Convert RGB-D Scenes dataset v2 to TUM RGB-D format
Using modified BiSeNet for face parsing in PyTorch
Tool for annotating the data association between bounding boxes generated from detector (like Yolo) mannually and automatically.
The repository provides code for running inference with the SegmentAnything Model (SAM), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.
Structure SLAM with points, planes, and objects
[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
Point-Plane SLAM Using Supposed Planes for Indoor Environments
[IROS 2020] EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
A C++ implementation for paper Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments.
A gtsam demo contains the implementation of curve fitting and the definition and usage of ternary factors with node type SE(3).
A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking.
PL-SLAM: The method is implemented in《PL-SLAM:Real-time Monocular Visual SLAM with Points and Lines》
A curated list of Object SLAM papers and resources