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kitti2bag

Convert KITTI dataset to ROS bag file the easy way!

kontiki

Toolkit for continuous-time structure from motion

lego-loam

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

liegroups

Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch

lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

llol

LLOL: Low-Latency Odometry for Spinning Lidars

loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

loam_velodyne

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

magic_enum

Static reflection for enums (to string, from string, iteration) for modern C++, work with any enum type without any macro or boilerplate code

marginalization

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

micrograd-cpp

mlreview_notebooks

Jupyter notebooks for "A high-bias, low-variance introduction to Machine Learning for physicists"

monkey-lang

C++ implementation of monkeylang using type erasure.

nano_solver

Based on TinySolver from ceres

nerf-pytorch

A PyTorch re-implementation of Neural Radiance Fields

nicp

Normal Iterative Closest Point (NICP) Algorithm C++ Library

online_photometric_calibration

Implementation of online photometric calibration (https://vision.in.tum.de/research/vslam/photometric-calibration)

open_vins

An open source platform for visual-inertial navigation research.

opengv

OpenGV is a collection of computer vision methods for solving geometric vision problems. It is hosted and maintained by the Mobile Perception Lab of ShanghaiTech.

orb_slam2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

orb_slam3

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

ouster_decoder

A low latency decoder for Ouster Lidars

ouster_driver

Ouster sample code

penet_icra2021

ICRA 2021 "Towards Precise and Efficient Image Guided Depth Completion"

pnp-depth

Implementation for "Plug-and-Play: Improve Depth Prediction via Sparse Data Propagation"

prml

PRML algorithms implemented in Python

py-caskdb

(educational) build your own disk based KV store

pykitti

Python tools for working with KITTI data.

pyslam

General Purpose Simultaneous Localisation and Mapping Algorithms in Python

raytracer

The Ray Tracer Challenge in c++