Release repo for our SLAM Handbook

A C++ header-only Eigen-based Library for Lie group operations

Python package for the evaluation of odometry and SLAM

A bare metal programming guide (ARM microcontrollers)

A curated and opinionated list of resources for Chief Technology Officers, with the emphasis on startups

Latex code for making neural networks diagrams

A LiDAR odometry pipeline that just works

Toolbox for quantitative trajectory evaluation of VO/VIO

AprilTag is a visual fiducial system popular for robotics research.

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

LLOL: Low-Latency Odometry for Spinning Lidars

DSOL: Direct Sparse Odometry Lite

Friends don't let friends make certain types of data visualization - What are they and why are they bad.

CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight

The entry point to the MRS UAV system.

Deep Learning papers reading roadmap for anyone who are eager to learn this amazing tech!

Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filte…

the Open Vision Computer

The Robot Operating System Version 2.0 is awesome!

ROS + OpenCL = ❤️

ROS code for UPenn's scarab robot

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 an…

a software library containing FFT functions written in OpenCL

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

Multi-threaded generic RANSAC implemetation

Provides a ROS wrapper for the Snapdragon Navigator API

A ToolBox for controlling KUKA iiwa robot from matlab:

ROS package of helper functions related to bringing up roslaunch on system startup.

Monocular Visual-Inertial State Estimator on Mobile Phones