Stars
Python tools to perform time-synchronization and hand-eye calibration.
Training library for local feature detection and matching
SuperGlue: Learning Feature Matching with Graph Neural Networks (CVPR 2020, Oral)
An efficient and consistent bundle adjustment for lidar mapping
This repository contains an implementation of REMODE (REgularized MOnocular Depth Estimation), as described in the paper.
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
OpenGV is a collection of computer vision methods for solving geometric vision problems. It is hosted and maintained by the Mobile Perception Lab of ShanghaiTech.
This is the code that corresponds to the paper: J. Heinly, J.L. Schönberger, E. Dunn, and J.M. Frahm, "Reconstructing the World* in Six Days *(As Captured by the Yahoo 100 Million Image Dataset)", …
COLMAP - Structure-from-Motion and Multi-View Stereo
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Open source Structure-from-Motion pipeline
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,…
Code for the CVPR2021 paper "Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition"
End-to-End Object Detection with Transformers
Open Source Routing Machine - C++ backend
A basic fixed-wing autopilot for ROS - based on the textbook "Small Unmanned Aircraft: Theory and Practice" by Randy Beard and Tim McLain
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
An Optimization-Based GNSS/INS Integrated Navigation System
An awesome vehicle dataset for GNSS/INS integration applications
Smartphone navigation positionning, fusion GPS and IMU sensors.
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.