Tensors, for human consumption

[ICRA 2025 Best Paper] MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry

Graphs that teach > graphs that impress. Turn any code, or knowledge base (Karpathy LLM wiki), into an interactive knowledge graph you can explore, search, and ask questions about. Works with Claud…

Global LiDAR-Visual Bundle Adjustment

Official code for paper "InstantSfM: Fully Sparse and Parallel Structure-from-Motion"

Mosaico - The data platform for Physical AI

3d without friction (Torch, TF, Jax, Numpy)

ESP32-based Development Board for Robotics and Embedded Applications

A ROS 2 tool for exporting bags to human readable files. Supports pluggable export routines to handle any message type.

📚LeetCUDA: Modern CUDA Learn Notes with PyTorch for Beginners🐑, 200+ CUDA Kernels, Tensor Cores, HGEMM, FA-2 MMA.🎉

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration

LATTE: Accelerating LiDAR Point Cloud Annotation via Sensor Fusion, One-Click Annotation, and Tracking

Autonomous RC-Car racing competition in HKUST

Semi-direct Visual Odometry

Example of doing SFM (structure form motion) using OpenCV + GTSAM + PMVS

[CVPR 2023] "Revisiting Rotation Averaging: Uncertainties and Robust Losses" by Ganlin Zhang, Viktor Larsson and Daniel Barath

End-to-end SFM framework based on GTSAM

AevaScenes Python SDK

[RAL 2024] Lightweight Structured Line Map Based Visual Localization

[ICCV 2025] MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motion

GLOMAP - Global Structured-from-Motion Revisited

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points…

my code utils

Refine high-quality datasets and visual AI models

[ICCV 2025 Oral] Back on Track: Bundle Adjustment for Dynamic Scene Reconstruction (BA-Track)

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

PyTorch Implementation of the ICCV 2023 paper: Generalized Differentiable RANSAC ($\nabla$-RANSAC).