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SORT3D, an LLM-based object-centric grounding and indoor navigation system employing a spatial reasoning toolbox and state of the art 2D VLMs for perception.
(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.
Zero-Drift Point Cloud Mapping using Map Priors
A high-performance ROS2 package for real-time interpolation of 3D LiDAR point clouds. Developed in C++, it supports dynamic configurations, multiple interpolation methods (Bilinear, Bilateral, Spli…
This repository contains the drivers to directly include the Livox MID-360 into the existing RoboRacer/ former F1Tenth stack.
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
C++ wrapper to dynamically run C code generated by ACADOS
ROS stack with an efficient real-time NMPC for the Crazyflie 2.1
KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples
ori-drs / HBA
Forked from hku-mars/HBA[RAL 2023] A globally consistent LiDAR map optimization module
This is a lidar segmentation method based on range image.
Collect paper about ground segmentation in 3D point cloud.
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
An open source, self-hosted implementation of the Tailscale control server
Ros package for converting 3D voxel maps generated by the UFOMap and the OctoMap mapping solution into 2D occupancy maps for unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGV)
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…
Postgraduate Thesis: fast_lio_sam + dynamic removal (T-GRS 2024) + multi-session mapping (ICRA 2022 Kim) + object-level update + online relocalization (ICRA 2025) + real-world application (MD-LVIO)
Tools and Messages for Annotated 3D Triangle Meshes in ROS
A Sony DualShock 4 userspace driver for Linux
YAETS (Yet Another Execution Tracing System) is a library designed to trace function execution in C++ asynchronously, combined with Python tools to analyze the results through Gantt charts and hist…
ROS2 parameter server which caches parameter into the storage if necessary and reload it during initialization.
A Modular Optimization framework for Localization and mApping (MOLA)
Flutter-3.0 Firebase Messaging, Foreground, and Background Notifications + Topic Subscription and Handle Redirection
Photogrammetry Guide. Photogrammetry is widely used for Aerial surveying, Agriculture, Architecture, 3D Games, Robotics, Archaeology, Construction, Emergency management, and Medical.
Method to add Lidar based loop detections to Graph based SLAM