ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
- slam-algorithms
Repository Index
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The Kalibr visual-inertial calibration toolbox
- camera
- calibration
- calibration-toolbox
- imu
Behavior Trees Library in C++. Batteries included.
RTAB-Map library and standalone application
- slam
- scanning
- mapping
- localization
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
- estimation
- perception
- robotics
- sensorfusion
Universal grid map library for mobile robotic mapping
- ros
- grid-map
- mapping
- terrain
OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
- autonomous-driving
- calibration
- sensor
A modular high-level library to train embodied AI agents across a variety of tasks and environments.
- ai
- computer-vision
- robotics
- simulator
An open source platform for visual-inertial navigation research.
- visual-inertial-odometry
- slam
- msckf
- sensor-calibration
High-performance C++ library for multiphysics and multibody dynamics simulations
- simulation
- physics-simulation
- modeling
- robotics
High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
- multibody-dynamics
- physics-engine
- physics-simulation
- robotics
An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
An open-source library for sim and real robot demos on top of MuJoCo.
The Open Motion Planning Library (OMPL)
- motion-planning
- robotics
An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
- optimal-control
- model-predictive-control
- ilqr
- ilqg
gradslam is an open source differentiable dense SLAM library for PyTorch
A cross-platform C++20 3D library with Python bindings and the high-level API of three.js.
- threejs
- opengl
- 3d-graphics
- cpp
Automated, hardware-independent Hand-Eye Calibration
IKPy, an Universal Inverse Kinematics library
- inverse-kinematics
- urdf
- robotics
- poppy
robotic motion planning library
- robotics-algorithms
- topp
- motion-planning
- robotics
Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
- agriculture
- autonomous-vehicles
- coverage-path-planning
- cpp17
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
- visual-inertial-odometry
- msckf
- localization
- ekf-mono-slam