[ECCV 2020] In-Domain GAN Inversion for Real Image Editing

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

A LiDAR SLAM system that just works

PyTorch Implementation of DeepVO

BBDM: Image-to-image Translation with Brownian Bridge Diffusion Models

The official implementation for "Spherical Transformer for LiDAR-based 3D Recognition" (CVPR 2023).

Tight Learned Inertial Odometry

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Visual Planning: Let's Think Only with Images

[CVPR'24] Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion

[RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is observed from opposite views

Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)

[CVPR 2023] RoomFormer: Two-level Queries for Single-stage Floorplan Reconstruction

This repo contains the code of the paper "Learned Inertial Odometry for Autonomous Drone Racing", RA-L 2023.

Code for "LiftFeat: 3D Geometry-Aware Local Feature Matching", ICRA2025

💫 [CVPR 2024] LiDAR4D: Dynamic Neural Fields for Novel Space-time View LiDAR Synthesis

[IEEE T-RO 2023] Source code of RING and RING++ for loop closure detection in LiDAR SLAM.

Implementation of IROS20 paper - "Semantic Graph Based Place Recognition for 3D Point Clouds"

📌 PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map [RSS' 25]

[RA-L 2024] Fusing deep dense bundle adjustment (DBA) with multi-sensor factor graph optimization.

Benchmark for lidar and visual place recognition

Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation (RAL 2023)

SOTA LiDAR Global Descriptor in LiDAR Place Recognition (accepted in RA-L'24 w/ ICRA'25)

Image as an IMU: Estimating Camera Motion from a Single Motion-Blurred Image

[CVPR 2025] LiDAR-RT: Gaussian-based Ray Tracing for Dynamic LiDAR Re-simulation

Extending the Robustness of LiDAR SLAM to Geometrically Degenerate Scenarios

[PAMI 2022, CVPR 2023] ASH: Parallel Spatial Hashing for Fast Scene Reconstruction

KAN-based NeRF

Occ4cast: LiDAR-based 4D Occupancy Completion and Forecasting