Navigation & SLAM

Open source

A point-cloud registration pipeline for robot localization and 3D perception.

Open source

Master's Thesis on Simultaneous Localization and Mapping in dynamic environments. Separately reconstructs both the static environment and the dynamic objects from it, such as cars.

Open source

Robot-centric elevation mapping for rough-terrain navigation.

Open source

Research code for scene imagination and efficient robotic exploration.

Open source

ROS 2 localization for outdoor robots: IMU, wheel encoders and GPS fused in a 23-state UKF at 100 Hz. When the estimate goes wrong it reports which sensor and why, instead of drifting silently.…

Open source

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

Open source

Modern C++20 GNSS toolkit — RTK/PPP/CLAS/IMU fusion.

Open source

Hierarchical RL for interactive navigation with mobile manipulators.

Open source

HybVIO visual-inertial odometry and SLAM system

Open source

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

Open source

ROS 2 implementation of a Teleoperated robot with live video feed using webrtc and SLAM using realsense's stereocameras. Running on a Jetson Nano

Open source

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Open source

A LiDAR odometry pipeline for wheeled mobile robots

Open source

A LiDAR SLAM system that just works

Open source

Iterative closest-point library for 2D and 3D robotic mapping.

Open source

A differential drive robot is controlled using ROS2 Jazzy running on a Raspberry Pi 4 (running Ubuntu Server 24.04). The vehicle is equipped with a Raspberry Pi camera for visual feedback and an…

Open source

3D LIDAR Localization using pointcloud map in ROS 2 (Not SLAM)

Open source

A ROS 2 navigation workspace combining LiDAR-inertial odometry, relocalization and Nav2.

Open source

Fast LiDAR SLAM

Open source

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

Open source

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.

Open source

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

Open source

My End-of-Degree thesis. Visual SLAM, DL, 3D sparse and dense maps and Computer Vision.

Open source

A ROS package for probabilistic mobile-robot localization with 3D lidar.