Repository Index

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

• simulation
• robotics
• kinematics
• virtual-reality

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

An optimization-based multi-sensor state estimator

g2o: A General Framework for Graph Optimization

• g2o
• slam
• c-plus-plus
• graph-optimization

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

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

• loam
• iros
• ieee
• lidar

:zap: The Mobile Robot Programming Toolkit (MRPT)

• mrpt
• c-plus-plus
• mobile-robotics
• slam

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.

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

• velodyne
• ros
• loam-velodyne
• lidar

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

• optimal-control
• model-predictive-control
• ilqr
• ilqg

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

• trajectory-generation
• robotics
• jerk-constrained
• time-optimal

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

• ros
• mobile-robots
• navigation
• trajectory-optimization

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

• loam
• slam
• aloam
• localization

A Modular Optimization framework for Localization and mApping (MOLA)

• slam
• lidar
• lidar-point-cloud
• localization

AI-IMU Dead-Reckoning

• imu
• state-estimation
• inertial-odometry
• localization

DroneBridge is a system based on the WifiBroadcast approach. A bidirectional digital radio link between two endpoints is established using standard WiFi hardware and a custom protocol. DroneBridge is optimized for use in UAV applications and is a complete system. It is intended be a real alternative to other similar systems, such as DJI Lightbridge or OcuSync.

• msp
• telemetry
• wifibroadcast
• dronebridge

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.

Real-Time 3D Semantic Reconstruction from 2D data

• semantic-segmentation
• volumetric-reconstruction
• 3d-reconstruction
• robotics

Real time semantic slam in ROS with a hand held RGB-D camera

• semantic-segmentation
• slam
• semantic-slam
• octomap

This repository contains multiple approaches for generating global racetrajectories.

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

• slam
• robotics
• state-estimation
• visual-slam

A robust sensor fusion library for online localization.

• sensorfusion
• estimation-algorithm
• gnss
• ranging

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.

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