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MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

A next-gen solver for optimization with nonconvex objective and constraints. Unifies barrier and SQP methods in a modern and generic way, and unlocks a variety of novel methods. Competitive against…

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)

[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System

for sQPEP_Solver

GPU-HC solving minimal problems in computer vision (CVPR'22)

Experiments results of HCTO

The UTIAS UWB dataset and data parsing scripts.

Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21

Fast and robust global registration for terrestrial robots @ ICRA2022

Automatically exported from code.google.com/p/morethantechnical

Main repository of SageMath

[TMECH'2024] Official codes of the paper. PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation

A fast and robust global registration library for outdoor LiDAR point clouds.

RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimization, CVPR 2022

Polyjam is a powerful toolbox for symbolic polynomial computations and automatic code-generation for solving Groebner bases in C . Please consult the documentation for more information.

Perspective camera pose from point correspondences with unknown focal length and unknown aspect ratio.

Point cloud map evaluation library for the FusionPortable dataset. Metrics include Mean Map Entropy (MME), RMSE, Accuracy(mean error), Precision(standard deviation), completeness(overlap ratio), ch…

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

Minimal problem numerical continuation solver

Event-enhanced Line Segment Detection in Motion-blurred Images

Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.

ImMesh: An Immediate LiDAR Localization and Meshing Framework

A PyTorch implementation of NeRF (Neural Radiance Fields) that reproduces the results.

C library to implement invariant extended Kalman filtering for aided inertial navigation.

Linux multi-touch gesture recognizer

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation

A set of lightweight header-only template functions implementing commonly-used optimization methods on Riemannian manifolds and convex spaces.