Repositories list

• MINS

  Public
  An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

  C++

  •

  GNU General Public License v3.0

  •79•471•6•2•Updated Oct 8, 2024Oct 8, 2024

• R-VIO2

  Public
  Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

  calibrationslamvio+ 9visual-inertial-odometryralvinsicrasquare-rootirosfloat32+ 2

  C++

  •

  GNU General Public License v3.0

  •30•246•7•0•Updated Sep 19, 2024Sep 19, 2024

• vicon2gt

  Public
  Vicon-IMU fusion for groundtruth trajectory generation.

  inertialmotion-captureoptitrack+ 4sensor-calibrationvicon2gtvicongroundtruth

  C++

  •

  GNU General Public License v3.0

  •17•98•1•0•Updated Sep 14, 2024Sep 14, 2024

• open_vins

  Public
  An open source platform for visual-inertial navigation research.

  viomsckfvisual-inertial-odometry+ 6ekf-localizationsensor-calibrationresearch-platformopen-vinsroboticsslam

  C++

  •

  GNU General Public License v3.0

  •653•2.2k•59•4•Updated Sep 8, 2024Sep 8, 2024

• ov_plane

  Public
  A monocular plane-aided visual-inertial odometry

  planeroboticsslam+ 7viomsckfvisual-inertial-odometryekf-localizationsensor-calibrationopen-vinsplanar-regularities

  C++

  •

  GNU General Public License v3.0

  •26•200•3•1•Updated May 20, 2024May 20, 2024

• reach_ros_node

  Public
  ROS driver for the Reach RTK GNSS module by Emlid

  gps-locationrtkros-driver+ 2ros-kineticreach-rtk

  Python

  •

  Other

  •36•37•10•5•Updated May 2, 2024May 2, 2024

• gaussian_splatting

  Public
  The beginnings of Gaussian Splats into VINS family

  Python

  •

  Other

  •1.9k•3•0•0•Updated Dec 4, 2023Dec 4, 2023

• gaussian-splatting-cuda

  Public
  3D Gaussian Splatting into VINS family

  C

  •

  Other

  •75•1•0•0•Updated Oct 6, 2023Oct 6, 2023

• ov_maplab

  Public
  Interface for OpenVINS with the maplab project

  msckfekf-localizationmaplab+ 4open-vinsvisual-inertial-mappingcooperative-localizationslam

  C++

  •

  GNU General Public License v3.0

  •15•83•0•0•Updated Aug 26, 2023Aug 26, 2023

• Hierarchical-Localization

  Public
  Visual localization made easy with hloc

  Python

  •

  Apache License 2.0

  •597•0•0•0•Updated Aug 21, 2023Aug 21, 2023

• instant_ngp

  Public
  Instant neural graphics primitives: lightning fast NeRF and more

  Cuda

  •

  Other

  •1.9k•0•0•0•Updated Aug 12, 2023Aug 12, 2023

• TLIO

  Public
  Learning-based Inertial Odometry based on TLIO

  Python

  •

  Other

  •70•0•0•0•Updated Aug 8, 2023Aug 8, 2023

• R-VIO

  Public
  Robocentric Visual-Inertial Odometry

  localizationkalman-filteringvio+ 6msckfvisual-inertial-odometryvinsirosrobocentricijrr

  C++

  •

  GNU General Public License v3.0

  •174•757•4•0•Updated Apr 23, 2023Apr 23, 2023

• ar_table_dataset

  Public
  Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.

  augmented-realitydatasetrgb+ 2visual-inertialslam-dataset

  Python

  •9•53•1•0•Updated Apr 3, 2023Apr 3, 2023

• quad-sdk

  Public
  Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

  C++

  •

  MIT License

  •137•2•0•0•Updated Jan 16, 2023Jan 16, 2023

• xsens_mti_ros_node

  Public
  ROS node driver for Xsens devices. Edited to work with MTI-G-700 and Python3

  driverrosxsens+ 1mti-g-700

  Python

  •49•3•0•0•Updated Dec 19, 2022Dec 19, 2022

• pointgrey_ladybug

  Public
  ROS Driver for Pointgrey Ladybug Cameras

  driverladybugros-kinetic+ 1pointgrey

  C++

  •

  Other

  •7•29•1•0•Updated Dec 19, 2022Dec 19, 2022

• calc2.0

  Public
  CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure

  deep-learningslamvariational-autoencoder

  Python

  •

  Apache License 2.0

  •17•95•5•4•Updated Nov 21, 2022Nov 21, 2022

• OA-LICalib

  Public
  Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems

  C++

  •

  GNU General Public License v3.0

  •46•5•0•0•Updated Jul 5, 2022Jul 5, 2022

• rosbags

  Public
  Github mirror of https://gitlab.com/ternaris/rosbags

  Python

  •

  Apache License 2.0

  •6•20•0•0•Updated Jun 2, 2022Jun 2, 2022

• suo_slam

  Public
  Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation

  Python

  •

  MIT License

  •12•134•4•0•Updated May 18, 2022May 18, 2022

• gps_path_pub

  Public
  Handy publishing of a path and and frame from a single GPS sensor.

  visualizationgpsros+ 1rviz

  C++

  •13•13•0•0•Updated Mar 14, 2022Mar 14, 2022

• kaist2bag

  Public
  A tool to convert KAIST urban dataset to rosbag.

  C++

  •

  MIT License

  •15•34•0•0•Updated Mar 8, 2022Mar 8, 2022

• rosdistro

  Public
  This repo maintains a lists of repositories for each ROS distribution

  Python

  •

  Other

  •2.6k•0•0•0•Updated Dec 30, 2021Dec 30, 2021

• file_player

  Public
  C++

  •22•0•0•1•Updated Dec 6, 2021Dec 6, 2021

• apriltags-cpp

  Public
  A simple ros wrapper for apriltag-cpp

  C++

  •2•8•0•0•Updated Nov 16, 2021Nov 16, 2021

• icalib.github.io

  Public
  Inertial Aided Multi-Sensor Calibration

  GNU General Public License v3.0

  •8•60•1•0•Updated Sep 4, 2021Sep 4, 2021

• cosypose

  Public
  Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.

  Python

  •

  MIT License

  •90•0•0•0•Updated Sep 3, 2021Sep 3, 2021

• xsens_standalone

  Public
  Python Standalone library for use with the xsens IMU

  Python

  •8•20•1•2•Updated Aug 30, 2021Aug 30, 2021

• ublox

  Public
  A driver for ublox gps

  C++

  •390•1•0•0•Updated Jul 5, 2021Jul 5, 2021