Robot Perception & Navigation Group (RPNG)

All

74 repositories

MINS
Public
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, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
C++
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GNU General Public License v3.0
•80•481•7•2•Updated Oct 8, 2024Oct 8, 2024
R-VIO2
Public
Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
calibration slam vio visual-inertial-odometry ral vins icra square-root iros float32
C++
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GNU General Public License v3.0
•30•244•7•0•Updated Sep 19, 2024Sep 19, 2024
vicon2gt
Public
Vicon-IMU fusion for groundtruth trajectory generation.
inertial motion-capture optitrack sensor-calibration vicon2gt vicon groundtruth
C++
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GNU General Public License v3.0
•17•98•1•0•Updated Sep 14, 2024Sep 14, 2024
open_vins
Public
An open source platform for visual-inertial navigation research.
vio msckf visual-inertial-odometry ekf-localization sensor-calibration research-platform open-vins robotics slam
C++
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GNU General Public License v3.0
•652•2.2k•44•4•Updated Sep 8, 2024Sep 8, 2024
ov_plane
Public
A monocular plane-aided visual-inertial odometry
plane robotics slam vio msckf visual-inertial-odometry ekf-localization sensor-calibration open-vins planar-regularities
C++
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GNU General Public License v3.0
•26•202•3•1•Updated May 20, 2024May 20, 2024
reach_ros_node
Public
ROS driver for the Reach RTK GNSS module by Emlid
gps-location rtk ros-driver ros-kinetic reach-rtk
Python
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Other
•36•37•10•5•Updated May 2, 2024May 2, 2024
gaussian_splatting
Public
The beginnings of Gaussian Splats into VINS family
Python
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Other
•1.9k•3•0•0•Updated Dec 4, 2023Dec 4, 2023
gaussian-splatting-cuda
Public
3D Gaussian Splatting into VINS family
C
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Other
•75•1•0•0•Updated Oct 6, 2023Oct 6, 2023
ov_maplab
Public
Interface for OpenVINS with the maplab project
msckf ekf-localization maplab open-vins visual-inertial-mapping cooperative-localization slam
C++
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GNU General Public License v3.0
•15•83•0•0•Updated Aug 26, 2023Aug 26, 2023
Hierarchical-Localization
Public
Visual localization made easy with hloc
Python
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Apache License 2.0
•599•0•0•0•Updated Aug 21, 2023Aug 21, 2023
instant_ngp
Public
Instant neural graphics primitives: lightning fast NeRF and more
Cuda
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Other
•1.9k•0•0•0•Updated Aug 12, 2023Aug 12, 2023
TLIO
Public
Learning-based Inertial Odometry based on TLIO
Python
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Other
•70•0•0•0•Updated Aug 8, 2023Aug 8, 2023
R-VIO
Public
Robocentric Visual-Inertial Odometry
localization kalman-filtering vio msckf visual-inertial-odometry vins iros robocentric ijrr
C++
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GNU General Public License v3.0
•174•757•4•0•Updated Apr 23, 2023Apr 23, 2023
ar_table_dataset
Public
Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.
augmented-reality dataset rgb visual-inertial slam-dataset
Python
•9•53•1•0•Updated Apr 3, 2023Apr 3, 2023
quad-sdk
Public
Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
C++
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MIT License
•137•2•0•0•Updated Jan 16, 2023Jan 16, 2023
xsens_mti_ros_node
Public
ROS node driver for Xsens devices. Edited to work with MTI-G-700 and Python3
driver ros xsens mti-g-700
Python
•49•3•0•0•Updated Dec 19, 2022Dec 19, 2022
pointgrey_ladybug
Public
ROS Driver for Pointgrey Ladybug Cameras
driver ladybug ros-kinetic pointgrey
C++
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Other
•7•29•1•0•Updated Dec 19, 2022Dec 19, 2022
calc2.0
Public
CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure
deep-learning slam variational-autoencoder
Python
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Apache License 2.0
•17•95•5•4•Updated Nov 21, 2022Nov 21, 2022
OA-LICalib
Public
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
C++
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GNU General Public License v3.0
•45•5•0•0•Updated Jul 5, 2022Jul 5, 2022
rosbags
Public
Github mirror of https://gitlab.com/ternaris/rosbags
Python
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Apache License 2.0
•6•20•0•0•Updated Jun 2, 2022Jun 2, 2022
suo_slam
Public
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
Python
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MIT License
•12•134•4•0•Updated May 18, 2022May 18, 2022
gps_path_pub
Public
Handy publishing of a path and and frame from a single GPS sensor.
visualization gps ros rviz
C++
•13•13•0•0•Updated Mar 14, 2022Mar 14, 2022
kaist2bag
Public
A tool to convert KAIST urban dataset to rosbag.
C++
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MIT License
•16•34•0•0•Updated Mar 8, 2022Mar 8, 2022
rosdistro
Public
This repo maintains a lists of repositories for each ROS distribution
Python
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Other
•2.6k•0•0•0•Updated Dec 30, 2021Dec 30, 2021
file_player
Public
C++
•22•0•0•1•Updated Dec 6, 2021Dec 6, 2021
apriltags-cpp
Public
A simple ros wrapper for apriltag-cpp
C++
•2•8•0•0•Updated Nov 16, 2021Nov 16, 2021
icalib.github.io
Public
Inertial Aided Multi-Sensor Calibration
GNU General Public License v3.0
•8•60•1•0•Updated Sep 4, 2021Sep 4, 2021
cosypose
Public
Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.
Python
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MIT License
•91•0•0•0•Updated Sep 3, 2021Sep 3, 2021
xsens_standalone
Public
Python Standalone library for use with the xsens IMU
Python
•8•20•1•2•Updated Aug 30, 2021Aug 30, 2021
ublox
Public
A driver for ublox gps
C++
•390•1•0•0•Updated Jul 5, 2021Jul 5, 2021