Perception & geometry

Open source

🐍 Geometric Computer Vision Library for Spatial AI

Open source

An open harness to simulate and deploy perception-based PX4/ArduPilot drone swarms with ROS2, YOLO, LiDAR, NVIDIA Jetson

Open source

Toolkit for quantitatively scoring LeRobot data episodes.

Open source

Multiple-view geometry and structure-from-motion library.

Research

Imitation learning code for vision-based navigation with language assistance.

Research

GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

Open source

An open-source, full-stack robotic neck for active perception

Research

Key.Net: Keypoint Detection by Handcrafted and Learned CNN Filters

Open source

Public implementation of "Beyond Cartesian Representations for Local Descriptors", ICCV 2019

Research

Official PyTorch implementation of ODISE: Open-Vocabulary Panoptic Segmentation with Text-to-Image Diffusion Models [CVPR 2023 Highlight]

Research

R2D2: Reliable and Repeatable Detector and Descriptor #

Research

Official implementation of "Emergent Outlier View Rejection in Visual Geometry Grounded Transformers"

Research

📈 RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective

Open source

Generic calibration for robots

Open source

Procedural interactive 3D houses for embodied-AI experiments.

Open source

Toolkit for neural radiance fields and 3D scene reconstruction.

Open source

Frustum PointNets for 3D object detection from RGB-D data.

Research

Vision-action pretraining on desktop data for transfer to embodied AI.

Open source

Deep learned, NVIDIA-accelerated 3D object pose estimation

Research

Voice-controlled tabletop robotic-arm assistant project.

Open source

AdaptiGraph research code for material-adaptive robotic manipulation dynamics.

Open source

Tools for robot kinematics, dynamics, and optimization.

Research

An open research framework for embodied AI.

Research

Aubo i5 Dual Arm Collaborative Robot - RealSense D435 - 3D Object Pose Estimation - ROS