Full Autonomy Stack for Unitree Go2

A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling

[Docker provided] How to build, install and run open-source exploration algorithms

Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation

Engineering-grade ROS 1 / ROS 2 skill for Codex, Claude Code, and Gemini CLI.

[ICRA 2022] Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure

ROS & ROS2 Implementation of Patchwork++

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…

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

[IROS 2023] A LiDAR-inertial-wheel odometry and mapping system based on BA framework

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)

A set of Gazebo worlds models and maps that I used for testing Navigation2

A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.

An open-sourced SLAM dataset that couples with BIM (Building Information Modeling).

This is the code repository for the IROS'24 paper "Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment"

This work contains a modified version of cartographer_frontier_detection and rrt_exploration. We implement an active exploration process and improve its robustness and performance. More details are…

Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

Repository to generate in real-time Situational Graphs (S-Graphs) for robot pose and map optimization using 3D LiDAR Data

Autonomous Navigation and Collision Avoidance for Ground Robots

Repository for the path planner for SMB for the ETH Robotics Summer School

ESANet: Efficient RGB-D Semantic Segmentation for Indoor Scene Analysis

Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments

Front_end : fastlio2 Back_end : lio_sam

3D Multi-Robot Exploration, Patrolling and Navigation.

Codes for automatic point-cloud-to-BIM conversion

FAEL: Fast Autonomous Exploration for Large-Scale Environments with a Mobile Robot