Trajectory searching and optimization in uneven terrain. For RAL.

[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

BoxMOT: Pluggable SOTA multi-object tracking modules modules for segmentation, object detection and pose estimation models

[RA-L 26] Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

Physics-aware LiDAR degradation framework for SLAM robustness on real sensor data (Livox Avia/Mid-360 & Ouster)

Multi-Modal LiDAR Dataset (Avia, Mid-360, Ouster) with Indoor MoCap and Outdoor GNSS-RTK ground truth

Global LiDAR-Visual Bundle Adjustment

RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024)

[ICCV'25] GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting

GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion

[RA-L 2025 Accept without Revision] A stereo visual-inertial odometry system based on voxel map

[T-RO 2025] Autonomous Flights Inside Narrow Tunnels

lio_ros_wrapper

M3DGR: A Multi-sensor, Multi-scenario and Massive-baseline SLAM Dataset for Ground Robots(IROS2025)

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

AgriLiRa4D: A Multi-Sensor UAV Dataset for Robust SLAM in Challenging Agricultural Fields

A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

Code repository for the method MonoSpheres for large-scale monocular UAV exploration

Doppler-Aware Direct Radar Odometry

RIV-SLAM: Radar-Inertial-Velocity optimization based graph SLAM

3D Radar Doppler Odometry

This repository contains links and instructions for a radar odometry dataset

Fast LiDAR SLAM

A Model Predictive Path Integral control algorithm for MeshNav.

GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry

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