GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)

Rust implementation of "KISS-Matcher: Fast and Robust Point Cloud Registration Revisited"

A LiDAR odometry pipeline for wheeled mobile robots

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

zenoh unifies data in motion, data in-use, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of…

This project allows the alignment and correction of LiDAR-based SLAM session data with a reference map or another session, also the retrieval of 6-DoF poses with accuracy of up to 3 cm given an ac…

A C++ & Python viewer for 3D data like meshes and point clouds

GUI tool for editing ROS 2 parameters at runtime

MCAP editor (GUI)

Lie theory for robotics

Minimal, robust, accurate and real-time LiDAR odometry

A LiDAR odometry pipeline that just works - with OpenMP!

An open source SDK for logging, storing, querying, and visualizing multimodal and multi-rate data

Effectively Detecting Loop Closures using Point Cloud Density Maps

A LiDAR odometry pipeline that just works

Task Manager ROS 2 package is a solution to start, handle and track tasks from different sources in a centralized way on a single robot

An unofficial pure Rust rewritten kiss-icp, A LiDAR odometry pipeline that just works

Code snippets for ROS2

pre-commit hooks

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

A pre-commit hook for Ruff.

An extremely fast Python linter and code formatter, written in Rust.

A set of ROS packages for keeping track of coordinate transforms.

Point Cloud Compression for ROS

P(oint) (e)Tudes lab: Lidar odometry, SLAM and visualization experiments

Interactive Map Correction for 3D Graph SLAM

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

ROS 2 Autoware Tool for Map Georeferencing and OSM Fusion