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3d_point_cloud_processing

3D Point Cloud Processing

a1-qp-mpc-controller

An open source implementation of MIT Cheetah 3 controllers

advio

An Authentic Dataset for Visual-Inertial Odometry

balm

An efficient and consistent bundle adjustment for lidar mapping

bioslam

IMU-based human skeletal pose estimation

bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

cassie_stateestimation

Code for various extended Kalman filter state estimation methods for Cassie.

cerberus

Visual-Inertial-Leg Odometry For Legged Robots

champ

𓃡 Quadruped Robot based on MIT Cheetah I

cheetah-software

cheetah_inekf_lcm

cheetah_inekf_realtime

code_utils

my code utils

colmap

COLMAP - Structure-from-Motion and Multi-View Stereo

contact-aided-invariant-ekf

Example code for contact-aided invariant extended Kalman filtering.

cube_slam_modified

CubeSLAM: Monocular 3D Object Detection and SLAM

deepfactors

Real-Time Probabilistic Dense Monocular SLAM Using Compact Code Representation

dido

Project page of 《DIDO:Deep Inertial Quadrotor Dynamical Odometry》

direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

dm-vio

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

doppler-icp

Official code release for Doppler ICP

droid-slam

dtt

A C++ header-only for data transfer between linear algebra libraries (Eigen, Armadillo, OpenCV, ArrayFire, LibTorch).

elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

elevation_mapping_cupy

Elevation Mapping on GPU.

envio

Code for "Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles" in TRO 2022

equality-constraint-lqr-compare

external-attention-pytorch

🍀 Pytorch implementation of various Attention Mechanisms, MLP, Re-parameter, Convolution, which is helpful to further understand papers.⭐⭐⭐

fast-depth

ICRA 2019 "FastDepth: Fast Monocular Depth Estimation on Embedded Systems"

fast-livo

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.