Visual representation and example of pairwise consistency maximization of factor-graph (Pose-graph). Currently WIP

BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Tool extensions for ros2bag cli

Simple joystick teleop for twist robots

A simple, but powerful UI toolset for various ROS2 utilities, with additional partial CLI support.

An effort to reverse-engineer the Adept MobileRobots Pioneer P3DX's driver board

Simple HTML+JS page to convert between different 3D rotation formats, quaternion, Rodrigues angles, etc.

PyTorch code for training LCDNet for loop closure detection in LiDAR SLAM. http://rl.uni-freiburg.de/research/lidar-slam-lc

Google Chrome, Firefox, and Thunderbird extension that lets you write email in Markdown and render it before sending.

Modern C++ Programming Course (C++03/11/14/17/20/23/26)

GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)

Release repo for our SLAM Handbook

Python package for the evaluation of odometry and SLAM

Loop Habit Tracker, a mobile app for creating and maintaining long-term positive habits

CloudCompare plugin for loading COLLADA, glTF, and IFC-SPF 3D models

YAETS (Yet Another Execution Tracing System) is a library designed to trace function execution in C++ asynchronously, combined with Python tools to analyze the results through Gantt charts and hist…

Full-python LiDAR SLAM using ICP and Scan Context

Efficient and parallel algorithms for point cloud registration [C++, Python]

[ICRA 2024] Benchmarking Classical and Learning-Based Multibeam Point Cloud Registration

This system can perform 3D point-to-point associations between plants' point clouds acquired in different session even in presence of highly repetitive structures and drastic changes.

A cross platform (Linux and Windows) user mode SDK to read data from your Azure Kinect device.

A project to share scripts to build k4a(azure kinect sensor SDK).

A library for differentiable nonlinear optimization

Anonymous Github is a proxy server to support anonymous browsing of Github repositories for open-science code and data.

Dataset of Linus Torvalds' rants classified by negativity using sentiment analysis

PyTorch reimplementation for "PPF-FoldNet: Unsupervised Learning of Rotation Invariant 3D Local Descriptors" https://arxiv.org/abs/1808.10322