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ad_sensor_fusion

adafruit_ahrs

Arduino library for AHRS (Attitude and Heading Reference System) for Adafruit motion sensors

automatic_lidar_camera_calibration

cartographer_hector_tracker

Provides Taurob Tracker (Team Hector variant) integration for Cartographer.

dbow2

Enhanced hierarchical bag-of-word library for C++

deep-learning

Repo for the Deep Learning Nanodegree Foundations program.

dynavins_ros2

ROS2 wrapping package for dynaVINS

fast-livo

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.

fsm_lidom_ros

ROS1 package that provides lidar odometry from panoramic 2D range scans. Method: scan-matching without using correspondences, based on properties of the Discrete Fourier Transform

gransac

Multi-threaded generic RANSAC implemetation

hector_slam

hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.

imu_preintegration

IMU pre-integrator for VIO pipeline

imu_preintegration_cpp

introduction-to-autonomous-robots

Introduction to Autonomous Robots

jupyter-notebooks-for-robotics-courses

A collection of Jupyter Notebooks for Robotics Courses

kalibr

The Kalibr visual-inertial calibration toolbox

kalman-and-bayesian-filters-in-python

Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filters, and more. All exercises include solutions.

lidar_intrinsic_calibration

lili-om

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

lvi-sam

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

marginalization

Sample code for marginalization of SLAM, Visual-Inertial Odometry.

matlab-graph-optimization

Matlab: Optimization for Nonlinear Least Squares

microstrain_3dmgx2_imu

A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protoco

msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

open_vins

An open source platform for visual-inertial navigation research.

optimization

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

prometheus

Open source software for autonomous drones.

pythonrobotics

Python sample codes for robotics algorithms.

r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

ransaclib

Template-based implementation of RANSAC and its variants in C++