Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

A LiDAR SLAM system that just works

[CVPR 2025] MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors

[ICRA 2025] ELite: Ephemerality meets LiDAR-based Lifelong Mapping

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

A collection of GICP-based fast point cloud registration algorithms

[ICLR'23 Spotlight & ECCV'24 & IJCV'24] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction

Bird's Eye View Perception

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

Agent Laboratory is an end-to-end autonomous research workflow meant to assist you as the human researcher toward implementing your research ideas

C++ implementation of Lie Groups using Eigen.

A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter

(ICRA '25) Radar4VoxMap: Accurate Odometry from Blurred Radar Observations

[TMECH'2024] Official codes of ”PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation“

A fast and robust global registration library for outdoor LiDAR point clouds.

Super fast implementation of ICP in CUDA for compute capable devices 3.5 or higher

Code for "MatchAnything: Universal Cross-Modality Image Matching with Large-Scale Pre-Training", Arxiv 2025.

Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System

Surfel-based Mapping for 3d Laser Range Data (SuMa)

Efficient and parallel algorithms for point cloud registration [C++, Python]

LiDAR-inertial SLAM: Scan Context + LIO-SAM

New repo collection for NVIDIA Cosmos: https://github.com/nvidia-cosmos

A generative world for general-purpose robotics & embodied AI learning.

C# OpenGL Particle Simulation, GPU accelerated