A Robust and Efficient Trajectory Planner for Quadrotors

Official code for "I2D-Loc: Camera Localization via Image to LiDAR Depth Flow"

Real-time detection of diverse dynamic objects in complex environments.

Ros implementation of "Dynamic Object Detection in Range data using Spatiotemporal Normals".

Multi-modal SLAM

[T-RO 2025] SG-Reg: Generalizable and Efficient Scene Graph Registration

The first 6-DoF spline-based recursive motion esimator for LiDAR-based odometry

GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025) (Optimized version for reduced CPU usage)

Release repo for our SLAM Handbook

Implementation of paper "DQFormer: Towards Unified LiDAR Panoptic Segmentation with Decoupled Queries"

Official repository for holistic fusion.

An efficient and consistent bundle adjustment for lidar mapping

[RAL 2023] A globally consistent LiDAR map optimization module

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

GLIM: versatile and extensible point cloud-based 3D localization and mapping framework

pix2tex: Using a ViT to convert images of equations into LaTeX code.

The official implementation of the "Certifiably Correct Range-Aided SLAM" algorithm. Implemented in performant C++

A Modular Optimization framework for Localization and mApping (MOLA)

[TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM

[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry

[TPAMI] GROR:A New Outlier Removal Strategy Based on Reliability of Correspondence Graph for Fast Point Cloud Registration

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments