Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras. It provides a broad set of modern local and global feature extractors, multiple loop-closure strategies, a volumetric reconstruction module, integrated depth-prediction models, and semantic segmentation capabilities for enhanced scene understanding.
- 3d-reconstruction
- depth-prediction
- feature-matching
- global-features
An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
A generalized framework for prototyping full-stack cooperative driving automation applications under CARLA+SUMO.
- autonomous-driving
- cooperative-driving-automation
- simulation
- connected-and-automated-vehicles
A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping
A ROS implementation of Fast and Safe Tracking (FaSTrack).