Stars
Code of the paper "Simplifying Certifiable Estimation: A Factor Graph Optimization Approach"
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Code for RSS'25 paper "MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction"
Information Field for Perception-aware Planning
vertigo repos from OpenSLAM.org
Sparsify pose graph to speed the optimization process
[IEEE ICRA'25] Distributed Certifiably Correct Range-Aided SLAM
Globally optimal solutions for g2o benchmarks using SE-Sync
Json Robot Log is a modern format for back-end SLAM datasets
A lightweight, easy-to-use, and efficient library for processing and rendering 3D data (C++ & Python)
Matplotlib styles for scientific plotting
Fast symbolic computation, code generation, and nonlinear optimization for robotics
A benchmark based on M2DGR and M2DGR-plus dataset with adapted SOTA SLAM algorithms
A toolbox for mapping and localization with line features.
Public code for "Data-Efficient Decentralized Visual SLAM"
A curated list of point cloud registration.
A collection of resources on modern C++
An Invitation to 3D Vision: A Tutorial for Everyone
A general and flexible factor graph non-linear least square optimization framework
tool for generate and visualize inter-dataset loop closure for long-term SLAM
Separate single-robot bag file into multi-robot bag file.
Fast maximal clique finder and robust registration library