Learning how to write "Less Slow" code in C++20, from numerical micro-kernels and SIMD to coroutines, ranges, and polymorphic state machines

An app for collecting raw RGB-D scans on iOS devices.

Best practices, conventions, and tricks for ROS

MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM

(Beta Version)Code for paper "Light-LOAM: A Lightweight LiDAR Odometry and Mapping based on Graph-Matching"

Code release for ConceptFusion [RSS 2023]

[IROS 2024] BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis

A General-Purpose Trajectory Optimizer for Multicopters

ROSCon 2024 Workshop: Demystifying ROS 2 Networking

Release repo for our SLAM Handbook

Postgraduate Thesis: fast_lio_sam + dynamic removal (T-GRS 2024) + multi-session mapping (ICRA 2022 Kim) + object-level update + online relocalization (ICRA 2025 submittion) + real-world applicatio…

Scripts and config files related to real-world UAV depoyment.

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,…

Seminar task used during the MRS Summer school 2020. The goal is to develop a controller for a follower drone in order to keep up with an evading leader drone.

[IROS 2024] [ICML 2024 Workshop Differentiable Almost Everything] Physics-informed model to predict robot-terrain interactions from RGB images.

ROS network stack: Topic/service transport over unreliable network connections

ROS package to provide conversion functions between ROS / PCL and OctoMap's native types.

Flexible Collision Library

Fast, hierarchical, sparse Voxel Grid

Repository to generate in real-time Situational Graphs (S-Graphs) for robot pose and map optimization using 3D LiDAR Data

Draw.io template/diagram containing C4 Model shapes. Drawio Diagrams.net

Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Ros implementation of "Dynamic Object Detection in Range data using Spatiotemporal Normals".

Real-time lidar-inertial odometry and mapping framework for dynamic environments

A curated list of awesome SLAM tutorials, projects and communities.

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.