Stars
BotanicGarden: A high-quality dataset for robot navigation in unstructured natural environments
Make your calibration dreams come true. ros2_calib is a Multi-Sensor Calibration Tool using ROS2 mcap recordings with direct URDF export.
Reactive safety-critical decision-making system for autonomous robots using ROS and BehaviorTree.CPP.
A Handy Extrinsic Calibration Tool for LiDAR-camera Systems.
Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
Library for reading & writing the E57 file format
Universal calibration toolbox for assisted, target-based multi-sensor calibration with ROS 1 and ROS 2 support.
Statistical Uncertainty Learning for Robust Visual-Inertial State Estimation
This is the repository for HeLiPR file player.
Scripts and Tools to work with The Rosario Dataset v2
[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.
[CVPR 2025 Best Paper Award] VGGT: Visual Geometry Grounded Transformer
MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assumption. Universal approach, working independently for RGB-D an…
[IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
[ICRA 2025 Best Paper] MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry
OpenGV is a collection of computer vision methods for solving geometric vision problems. It is hosted and maintained by the Mobile Perception Lab of ShanghaiTech.
Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2
[RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory
The first 6-DoF spline-based recursive motion esimator for LiDAR-based odometry
Mirror of the Basalt repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt