[IROS'26] A Flexible and Contiguous Decentralized Multi-UAV Exploration Framework

Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping (IJRR 2026)

FAST-LIVO2 with RTK/GNSS-constrained Global Optimization.

🦫 BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps (RSS 2026)

Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

This repository contains the official implementation of Omni-LIVO, a tightly-coupled multi-camera LiDAR-Inertial-Visual Odometry system that extends FAST-LIVO2 with multi-view photometric constrain…

HDR+ Implementation

[ICRA'24 Best UAV Paper Award Finalist] An Efficient Global Planner for Aerial Coverage

This repository contains the source code for our paper: MODE: Multi-view Omnidirectional Depth Estimation with 360-degree Cameras. ECCV 2022

An unofficial PyTorch implementation of ICCV 2019 paper "OmniMVS: End-to-End Learning for Omnidirectional Stereo Matching"

Code release for 360monodepth. With our framework we achieve monocular depth estimation for high resolution 360° images based on aligning and blending perspective depth maps.

Postgraduate Thesis: fast_lio_sam + dynamic removal (T-GRS 2024) + multi-session mapping (ICRA 2022 Kim) + object-level update + online relocalization (ICRA 2025) + real-world application (MD-LVIO)

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

Eclipse iceoryx2™ - true zero-copy inter-process-communication with a Rust core

Open source repository of plugins primarily intended for knowledge workers to use in Claude Cowork

Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"

C++ implementation of On-Manifold MPC (TIE '23, SR '25)

[T-RO'24] Fast and Adaptive Perception and Planning for UAVs in Dynamic Cluttered Environments

Self-made Gazebo maps and models for public

[ICRA 2025] Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems

Ready-to-use Media-over-QUIC / SRT / WebRTC / RTSP / RTMP / LL-HLS / MPEG-TS / RTP live media server and media proxy that allows to read, publish, proxy, record and playback real-time video and aud…

flexible and efficient Mavlink router

Tools and Messages for Annotated 3D Triangle Meshes in ROS

jsk visualization ros packages

https://wanyunfeialex.github.io/

PMM UAV planner

[RA-L 2025 Accept without Revision] A stereo visual-inertial odometry system based on voxel map