ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

A flexible, high-performance 3D simulator for Embodied AI research.

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

Nvdiffrast - Modular Primitives for High-Performance Differentiable Rendering

The Replica Dataset v1 as published in https://arxiv.org/abs/1906.05797 .

Real-time large scale dense visual SLAM system

VDO-SLAM: A Visual Dynamic Object-aware SLAM System

Accurate geometric camera calibration with generic camera models

A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.

Python binding of SLAM graph optimization framework g2o

Real-Time 3D Semantic Reconstruction from 2D data

Robust Tetrahedral Meshing in the Wild.

Convert any Triangle Mesh to Watertight Manifold

Pointcloud-based graph SLAM written in C++ using open3D library.

Fast Tetrahedral Meshing in the Wild

Nimble: Physics Engine for Biomechanics and Deep Learning

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation (2023 RAL Best Paper Award)

An Open Source software for 3D sound propagation modelling

This is an implementation sketch of the KinectFusion system described by Newcombe et al.

Marching cubes with and without color interpolation, and edge subsampling.

Bundle adjustment demo using Ceres Solver, with customized cost function and local parameterization on SE(3)

Scalable Differentiable Physics for Learning and Control (ICML2020)

Impulse response generation based on state-of-the-art geometric sound propagation engine.

ILS-based SLAM-focused solver

[IROS 2019] GPU Accelerated Robust Scene Reconstruction

Customized Python APIs for NVIDIA FleX

A set of lightweight header-only template functions implementing commonly-used optimization methods on Riemannian manifolds and convex spaces.

Minimal example showing problem with Ceres and Sophus

C++ for transformations between 3D orientation representations and associated Jacobians