Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
- physics-simulation
- robotics
- nvidia-warp
- newton-physics
JavaScript framework for robotics, drones, and the Internet of Things (IoT)
- javascript
- arduino
- beaglebone-black
- raspberry-pi
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
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
[IROS 2025 Best Paper Award Finalist & IEEE TRO 2026] The Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
- robotic-manipulation
- vision-language-action-model
- pretraining-for-robotics
- robotic-foundation-model
[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
- slam
- lidar-slam
- 3d-reconstruction
- mesh-reconstruction
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
- ai
- artificial-intelligence
- control-systems
- humanoid-robot
robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
- imitation-learning
- reinforcement-learning
- robotics
- simulation
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
- humanoid-robot
- physics-simulation
- robot-learning
- robotics
A large-scale benchmark and learning environment.
Fast symbolic computation, code generation, and nonlinear optimization for robotics
- robotics
- python
- cpp
- code-generation
A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]
- calibration
- camera
- lidar
- nid
A Modular Optimization framework for Localization and mApping (MOLA)
- slam
- lidar
- lidar-point-cloud
- localization
Real time semantic slam in ROS with a hand held RGB-D camera
- semantic-segmentation
- slam
- semantic-slam
- octomap
Pedestrian simulator powered by the social force model
- ros
- social-force-model
- crowd
- pedsim
This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
- fiducial-markers
- lidar
- point-clouds
- cassie
Multi primitive-to-primitive (MP2P) ICP algorithms in C++
- slam
- icp
- point-clouds
- registration
Geometry-Aware Monocular RGB Planning
A robotics monorepo: ROS 2 real-robot humanoid application plus reusable Python libraries for geometry, occupancy grids, kinematics and tracking.
Optimize drawing plan for a polargraph
Python Target Tracking for 2019 FRC Season