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.

Research

EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association

Open source

Robot-centric elevation mapping for rough-terrain navigation.

Research

Implementation for learning a mapping from urban images that contain dynamic objects to static realistic images suitable for SLAM

Open source

Research code for scene imagination and efficient robotic exploration.

Research

Sensor fusion architecture for robot state estimation, localization and mapping.

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.…

Research

This is the official implementation of the voxel-based humanoid locomotion in "Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains"

Open source

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

Research

Geometry-Aware Learning of Maps for Camera Localization (CVPR2018)

Open source

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

Research

Habitat-GS: A High-Fidelity Navigation Simulator with Dynamic Gaussian Splatting

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).

Research

AUTONOMOUS ROBOT NAVIGATION USING ROS Clearpath Husky A200 robot with Gazebo and RViz simulations using different SLAM and Path Planning algorithms. 360 degrees laser scan with two SICK LMS511…

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

Research

Code for LGX (Language Guided Exploration). We use LLMs to perform embodied robot navigation in a zero-shot manner.

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…