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3d-icp-covariance

Source code to estimate the 3D ICP covariance

blam_example

blam_slam

blensor

Blender Sensor Simulation

bluefox2

ROS driver for the Matrix Vision mvBlueFOX cameras

bpvo

Faster than real time visual odometry

camera_base

Some base classes for simplifing ROS camera driver node.

camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry

cartographer_ros

Provides ROS integration for Cartographer.

cgal

The public CGAL repository, see the README below

cpi

Continuous Preintegration for Graph-based Visual-Inertial Navigation

cpu_monitor

ROS node that publishes all nodes' CPU and memory usage

dlib

A toolkit for making real world machine learning and data analysis applications in C++

dotemacs

Literate Emacs configuration

dsnerf

Code release for DS-NeRF (Depth-supervised Neural Radiance Fields)

extrinsics_calibrator

A simple ROS package to read a bagfile with apriltags and groundtruth odometry to find the extrinsic parameters between the odometry body frame and the camera.

firmware

PX4 Autopilot Software

g-fold

My implementation of an algorithm similar to G-FOLD: Guidance algorithm for Fuel Optimal Large Diverts (G-FOLD)

gaussian-splatting

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

gaussianmixturemodel

GPU Accelerated Expectation Maximization for Gaussian Mixture Models using CUDA

gopt

Geometrical Optimization Toolbox

h2-mapping

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

icpcuda

Super fast implementation of ICP in CUDA for compute capable devices 2.0 or higher

kgmm_interpolation

Interpolation on the manifold of k component GMMs

libgp

Gaussian process library for machine learning

loam_continuous

Laser Odometry and Mapping (continuous spin version)

loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

matlab_rosbag

A small library for reading ROS bags in Matlab

mavros_controllers

Aggressive trajectory tracking using mavros for PX4 enabled vehicles