100 days of building Cuda kernels!

RTAB-Map's ROS package.

Code for "MatchAnything: Universal Cross-Modality Image Matching with Large-Scale Pre-Training", Arxiv 2025.

Official implementation of the solvers and estimators proposed in the paper "Relative Pose Estimation through Affine Corrections of Monocular Depth Priors"

This repository provides inference code to compute canopy height maps from aerial images, as described in the paper "Very high resolution canopy height maps from RGB imagery using self-supervised v…

21 Lessons, Get Started Building with Generative AI 🔗 https://microsoft.github.io/generative-ai-for-beginners/

Code release for "COTR: Correspondence Transformer for Matching Across Images"(ICCV 2021)

Relative camera pose estimation and visual localization with Reloc3r

VGGSfM: Visual Geometry Grounded Deep Structure From Motion

E(2)-Equivariant CNNs Library for Pytorch

CPP Implementation of "ALIKED: A Lighter Keypoint and Descriptor Extraction Network via Deformable Transformation"

DATAP-SfM: Dynamic-Aware Tracking Any Point for Robust Dense Structure from Motion in the Wild

Implementation of XFeat (CVPR 2024). Do you need robust and fast local feature extraction? You are in the right place!

Release repo for our SLAM Handbook

GIM: Learning Generalizable Image Matcher From Internet Videos (ICLR 2024 Spotlight)

Modern C++ Programming Course (C++03/11/14/17/20/23/26)

PainDiffusion: A model that can generate pain reaction to stimuli.

[FG 2024] Finite Scalar Quantization as Facial Tokenizer for Dyadic Reaction Generation

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

A comprehensive list of Implicit Representations and NeRF papers relating to Robotics/RL domain, including papers, codes, and related websites

A Probabilistic Framework for Visual Localization in Ambiguous Scenes

[arXiv '24] Real-Time 3D Semantic Scene Perception for Egocentric Robots with Binocular Vision

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

[IROS '24] Volumetric Mapping with Panoptic Refinement using Kernel Density Estimation for Mobile Robots

T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation

Official Implementation of paper "MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion"