Navigation & SLAM

Open source

Pointcloud-based graph SLAM written in C++ using open3D library.

Research

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

Research

Official repo of "BEVBert: Multimodal Map Pre-training for Language-guided Navigation"

Research

Gaussian Splatting SLAM

Open source

Official repo of "ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments"

Research

Visual SLAM framework derived from OpenVSLAM.

Open source

A collection of GTSAM factors and optimizers for point cloud SLAM

Open source

DiffBot is an autonomous 2wd differential drive robot using ROS Noetic on a Raspberry Pi 4 B. With its SLAMTEC Lidar and the ROS Control hardware interface it's capable of navigating in an…

Open source

Point-SLAM: Dense Neural Point Cloud-based SLAM

Open source

Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation

Research

Deep Reinforcement Learning for mobile robot navigation in IR-SIM simulation. Using DRL (SAC, TD3, PPO, DDPG) neural networks, a robot learns to navigate to a random goal point in a simulated…

Open source

Active Neural SLAM code for learning to explore environments.

Open source

Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots

Research

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

Open source

Code and Data of the CVPR 2022 paper: Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigation

Open source

An Optimization-Based GNSS/INS Integrated Navigation System

Research

Research code for mapping multimodal instructions to robotic actions.

Open source

Deep Reinforcement Learning for mobile robot navigation in ROS2 Gazebo simulator. Using DRL (SAC, TD3) neural networks, a robot learns to navigate to a random goal point in a simulated environment…

Open source

Edge deployment guide for InternNav-based perception and navigation on Unitree Go2 / Go2W / B2 robots (ROS 2, RealSense, Python).

Open source

A Python-based lightweight robot simulator designed for navigation, control, and learning

Open source

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

Open source

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Research

CubeSLAM: Monocular 3D Object Detection and SLAM

Research

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020