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Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
ROS2 / FAST_LIO / PGO / Online Re-Localization / Consistent Map with BA or HBA
This project allows the alignment and correction of LiDAR-based SLAM session data with a reference map or another session, also the retrieval of 6-DoF poses with accuracy of up to 3 cm given an ac…
iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems
HeLiMOS: Heterogeneous LiDAR Dataset for Moving Object Segmentation @ IROS'2024
H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation (submitted to RAL 2024)
A MultiModal Mapping (M2Mapping) Framework for LiDAR-Visual Systems
[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated in…
3D-PointMass-EKF for State Estimation coupled with STM-UKF for Side Slip Angle Estimation
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion
The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use th…
ROS-Driver for The Imaging Source (TIS) USB3 Vision Cameras
ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.
Source Code for "Map It Anywhere (MIA): Empowering Bird’s Eye View Mapping using Large-scale Public Data"
Collection of best practices when working with Docker/Docker-Compose and the Robot Operating System (ROS/ROS 2) in simulation as well as with real-hardware with real-time requirements
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22
Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation
GLIM: versatile and extensible range-based 3D localization and mapping framework
LIDAR pointcloud clustering
Hardware Interface for EtherCAT module integration with ros2_control
ros2ai is a next-generation ROS 2 command line interface extension with LLMs
Tool extensions for ros2bag cli