A real-time multifunctional Lidar SLAM package.

A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP

Run ROS1/2 with GUI support without hassle!

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO application and …

LiDAR SLAM = FAST-LIO + Scan Context

Code for "LoFTR: Detector-Free Local Feature Matching with Transformers", CVPR 2021, T-PAMI 2022

LightGlue: Local Feature Matching at Light Speed (ICCV 2023)

Joint Deep Matcher for Points and Lines 🖼️💥🖼️ (ICCV 2023)

Visual localization made easy with hloc

The Ros package to track and get position in world of the selected object. Written on Python Opencv with SIFT + Homography + PnP + blue detector.

.NET bindings for ROS2

ROS package for inclinometer UAVCAN node

Python GUI utility for creating Gazebo mazes.

Software for testing servos

ROS navigation stack base global planner plugin

Innopolis simulator interface to connect with PX4+Gazebo or Innopolis_vtol_dynamics

Bridge between MAVLink and ROS for PX4

Bridge between DroneCAN and ROS

UAV HITL dynamics

A fairly in-depth tutorial for the Point Cloud Library (with ROS integration notes!)

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

An open source platform for visual-inertial navigation research.

Index repo for Kimera code