DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration

将Livox Mid360激光雷达采集的ROS2的db3格式rosbag文件转换为ROS1的bag格式。

[RSS2024] Official implementation of "Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation"

Offical code release for DynoSAM: Dynamic Object Smoothing And Mapping. Accepted Transactions on Robotics (Visual SLAM SI). A visual SLAM framework and pipeline for Dynamic environements, estimatin…

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

Official code release for ConceptGraphs

[NeurIPS 2024] SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation

[ICCV-2025] TurboReg: TurboClique for Robust and Efficient Point Cloud Registration

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

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

A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation

Reproduction code of paper "World Model-based Perception for Visual Legged Locomotion"

A curated list of awesome datasets for SLAM

A tightly coupled LIO framework based on the equivariant filter.

EqVIO: An Equivariant Filter for Visual Inertial Odometry

This is the official repo of the project gnssFGO.

General Invariant Feature Tracker (GIFT) detects and tracks image features such as corners and points in common camera set-ups such as monocular, stereo, and multi-view.

PyTorch and TensorFlow implementation of NCP, LTC, and CfC wired neural models

Closed-form Continuous-time Neural Networks

[IROS 2024] I2EKF-LO: A Dual-Iteration Extended Kalman Filter based LiDAR Odometry

Fast and robust global registration for terrestrial robots @ ICRA2022

A fast and robust point cloud registration library

A Robust and Versatile Monocular Visual-Inertial State Estimator

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

A LiDAR-inertial-wheel odometry and mapping system based on BA framework.