Model Predictive Contouring Controller (MPCC) for Autonomous Racing

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

C++ API wrapper for displaying shapes and meshes in Rviz

pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure stra…

Fast symbolic computation, code generation, and nonlinear optimization for robotics

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

Python sample codes and textbook for robotics algorithms.

robotic motion planning library

⚡ The Mobile Robot Programming Toolkit (MRPT)

F´ - A flight software and embedded systems framework

Model-based design and verification for robotics.

Optimal Control for Switched Systems

MIGHTY: Hermite spline-based real-time trajectory planner for single- and multi-agent UAVs and ground robots (ROS 2). Accepted to IEEE RA-L.

[CMU] A Versatile and Modular Framework Designed for Autonomous Unmanned Aerial Vehicles [UAVs] (C++/ROS/PX4)

Livox-Mid-360 Used in UAV based faster-lio. Add localization mode in built maps.

Multi-Modal Multi-Lidar-Inertial Odometry and Mapping Implementation

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

LIO_SAM for 6-axis IMU and GNSS.

large-scale mapping system based on FAST-LIO2 and GNSS for Outdoor environment

Dual-Stage Viewpoint Planner for Autonomous Exploration

backup of irapkaist/SC-LeGO-LOAM

CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System

LiDAR place recognition. For fast python support.

LiDAR-inertial SLAM: Scan Context + LIO-SAM

3D LiDAR Object Detection & Tracking using Euclidean Clustering, RANSAC, & Hungarian Algorithm

CMake tutorial: beamer presentation and sample code

bug1, bug2 and tangent bug in ros

Point Cloud Library (PCL) 2.0 - draft