Open Keyframe-based Visual-Inertial SLAM (Version 2)

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

MP-SfM: Monocular Surface Priors for Robust Structure-from-Motion (CVPR 2025)

Undergraduate Thesis “Perception-constrained Visual Servoing Based NMPC for Quadrotor Flight”

C++ TensorRT implementation of Depth-Anything V1, V2

End-to-end SFM framework based on GTSAM

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

C++ bindings for LightGlue

ALIKED LightGlue ONNX inference

A cutlass cute implementation of headdim-64 flashattentionv2 TensorRT plugin for LightGlue. Run on Jetson Orin NX 8GB with TensorRT 8.5.2.

Faster than real time visual odometry

National College Research Project (ORB-SLAM3)

为GPT/GLM等LLM大语言模型提供实用化交互接口，特别优化论文阅读/润色/写作体验，模块化设计，支持自定义快捷按钮&函数插件，支持Python和C++等项目剖析&自译解功能，PDF/LaTex论文翻译&总结功能，支持并行问询多种LLM模型，支持chatglm3等本地模型。接入通义千问, deepseekcoder, 讯飞星火, 文心一言, llama2, rwkv, claude2, m…

A high Speed GPU accelerated SLAM for Low Powered Devices, IEEE- RAL-2023, ICRA 2024

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Free open-source photogrammetry software tools

PopSift is an implementation of the SIFT algorithm in CUDA.

CPU implementation of "Pixelwise View Selection for Unstructured Multi-View Stereo (Schönberger et al.)"

🔥SLAM, VIsual localization, keypoint detection, Image matching, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.

[CVPR2024 Oral] Learning to Produce Semi-dense Correspondences for Visual Localization

Given a fleet of drones, a list of customer orders, and availability of the individual products in warehouses, schedule the drone operations so that the orders are completed as soon as possible.

An Invitation to 3D Vision: A Tutorial for Everyone

⚡ The Mobile Robot Programming Toolkit (MRPT)

Fast symbolic computation, code generation, and nonlinear optimization for robotics

OpenREALM is a pipeline for real-time aerial mapping utilizing visual SLAM and 3D reconstruction frameworks.

A command line toolkit to generate maps, point clouds, 3D models and DEMs from drone, balloon or kite images. 📷

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.