Pointcept: Perceive the world with sparse points, a codebase for point cloud perception research. Latest works: Utonia (ICML'26), Concerto (NeurIPS'25), Sonata (CVPR'25 Highlight), PTv3 (CVPR'24 Oral)

Attitude-aided Linear (triaxial) Accelerometers Calibration.

GPU-accelerated robotics (CUDA + C++)

ScaRF-SLAM: A Framework for Globally Consistent Online Visual Dense Reconstruction

A blazingly fast multi-language serialization framework for idiomatic domain objects, schema IDL, and cross-language data exchange.

An omnidirectional SLAM system using 3D Gaussian Splatting for tracking and mapping from RGB and RGBD input. CVPR 2026.

[T-RO 2026] Bundle Adjustment in the Eager Mode

KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference. @ ICRA'26 Award Finalist

A Robust LiDAR-camera Calibration Tool for Large-spot LiDARs.

[ECCV 2024 Oral] DVLO: Deep Visual-LiDAR Odometry with Local-to-Global Feature Fusion and Bi-Directional Structure Alignment

Provides facilities for creating and accessing optional services during runtime.

C++20 concurrency framework with no compromises. Excellent performance, powerful features, and simple syntax.

[ICML 2026] Trust3R: Trustworthy feed-forward 3D reconstruction with evidential uncertainty.

EllipseLIO is an Adaptive LiDAR Inertial Odometry Approach with an Ellipsoid Representation

Odometry with just 4-pixel and an IMU

[RA-L 2026] LAPS: Improving Incremental LiDAR Mapping using Active Pooling and Sampling for Neural Distance Fields

[ICRA 2026] Official code for "LEAR: Learning Edge-Aware Representations for Event-to-LiDAR Localization"

Free, Micro AI Code Reviews That Run on Commit

A Foundational C++ Library for Safety-Critical Software.

Repo to collect resources on the invariant and equivariant filter - GTSAM biased :-)

Direct Radar Pose-Graph Optimization

Selective Non-Gaussian refinement for ambiguous factor graphs in SLAM with benchmarking and consistency analysis

Real-time semantic voxel mapping for ROS2 robots - 100ms latency on Jetson Nano

Low-configuration formatters and linters for the Polymath Code Standard

AI agent toolkit: unified LLM API, agent loop, TUI, coding agent CLI

Point-to-voxel LiDAR SLAM

TartanVO: A Generalizable Learning-based VO

A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots (ROBIO2023)