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).

FBOW (Fast Bag of Words) is an extremmely optimized version of the DBow2/DBow3 libraries.

LiDAR Odometry for Beginner

Benchmarking Visual-Inertial SLAM at City Scale (ICCV 2025).

[NeurIPS 2025]Genesis: Multimodal Driving Scene Generation with Spatio-Temporal and Cross-Modal Consistency

This roadmap's sole purpose is to remind myself/anyone of what is needed to learn in order to become a graphics engineer.

A tool to analyze and debug neural networks in pytorch. Use a GUI to traverse the computation graph and view the data from many different angles at the click of a button.

An end-to-end GoodReads Data Pipeline for Building Data Lake, Data Warehouse and Analytics Platform.

[IROS 23] InsMOS: Instance-Aware Moving Object Segmentation in LiDAR Data

Burn is a next generation tensor library and Deep Learning Framework that doesn't compromise on flexibility, efficiency and portability.

Autonomous Driving Systems

VRS is a file format optimized to record & playback streams of sensor data, such as images, audio samples, and any other discrete sensors (IMU, temperature, etc), stored in per-device streams of ti…

Apollo notes (Apollo学习笔记) - Apollo learning notes for beginners.

A highly robust and accurate LiDAR-only, LiDAR-inertial odometry

Petastorm library enables single machine or distributed training and evaluation of deep learning models from datasets in Apache Parquet format. It supports ML frameworks such as Tensorflow, Pytorch…

cuDF - GPU DataFrame Library