Navigation & SLAM

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

Research

Related Publications:

Research

📦 Installation

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.

Open source

Factor-graph framework for nonlinear least-squares optimization.

Research

Learning World Transition Model for Socially Aware Robot Navigation

Research

A Modular Optimization framework for Localization and mApping (MOLA)

Open source

Robot path planning, mapping and exploration algorithms

Open source

ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.

Open source

A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.

Open source

CVPR 2026 - MSGNav: Unleashing the Power of Multi-modal 3D Scene Graph for Zero-Shot Embodied Navigation

Research

EMKG: multimodal memory and retrieval for open-world object-goal navigation in dynamic environments.

Open source

"Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020

Research

Educational Python implementation of pose-graph optimization.

Research

Real time Nav2 parameter tuning GUI for ROS2, no kill or relaunch needed

Open source

MCP server that provides tools and resources to control and monitor robots using Nav2.

Research

Nav-R1: Reasoning and Navigation in Embodied Scenes

Research

Official implementation of "NavRAG: Generating User Demand Instructions for Embodied Navigation through Retrieval-Augmented LLM" (ACL'25 Findings)