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Maybe the simplest LiDAR-inertial odometry that one can have.

C++ 254 25 Updated Jun 3, 2025

A C++ header-only Eigen-based Library for equivariant Inertial Measurement Unit (IMU) preintegration

C++ 165 22 Updated Jan 21, 2025
< 10000 span itemprop="programmingLanguage">Python 201 58 Updated Sep 25, 2023

Release repo for our SLAM Handbook

3,341 182 Updated May 16, 2025

Official repository for the paper "Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance" by Bhattacharya, et al. (2024) from GRASP, Penn.

C++ 107 17 Updated May 31, 2025

loam code noted in Chinese(loam中文注解版)

C++ 1,032 434 Updated Oct 9, 2019

An Optimization-Based GNSS/INS Integrated Navigation System

C++ 574 168 Updated Mar 27, 2024

A collection of educational notebooks on multi-view geometry and computer vision.

Jupyter Notebook 107 16 Updated Oct 9, 2022

Implementing a Visual Odometry Pipeline for the course Vison Algorithms for Mobile Robotics by Prof. Dr. Davide Scaramuzza ETH Zurich

Python 23 4 Updated Jan 9, 2021

PyTorch implementation of Targeted Adversarial Perturbations for Monocular Depth Predictions (in NeurIPS 2020)

HTML 15 3 Updated Nov 15, 2022

A repository on how to understand the theory of 3D Gaussians Splatting

127 9 Updated Nov 16, 2024

Depth estimation by stereo fisheye camera (Cali Cam)

C++ 58 8 Updated May 21, 2025

A project of Visual Inertial Odometry for Autonomous Vehicle

C++ 128 28 Updated Dec 22, 2019
Python 92 17 Updated Nov 20, 2023

To merge several frames of lidar pointcloud with imu input by the means of preintegration

C++ 11 1 Updated May 27, 2021

Flexible Camera Calibration

Jupyter Notebook 21 2 Updated Sep 13, 2020

Accurate geometric camera calibration with generic camera models

C++ 773 125 Updated Jul 1, 2024

CUDA and C++ implementation of a Neural Network architecture training CUDA

C 11 2 Updated Jul 31, 2023

RoMa: A lightweight library to deal with 3D rotations in PyTorch.

Python 583 20 Updated Jun 6, 2025

Code exercises for the SLAM course in 'Computer Vision, LiDAR processing, and Sensor Fusion for Autonomous Driving' lecture series

C++ 352 59 Updated Apr 2, 2024

how to optimize some algorithm in cuda.

Cuda 2,300 209 Updated Jun 27, 2025

small, powerful and beautiful slam tricks with theory and practice

C++ 89 14 Updated Dec 14, 2023

Real-time Stereo Visual SLAM Pipeline with Bundle Adjustment

Python 36 4 Updated Jun 13, 2023

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

C++ 409 110 Updated Jun 4, 2024

cuda icp for 6D pose estimation

C++ 99 25 Updated Apr 30, 2020

Minimal solvers for calibrated camera pose estimation

C++ 1,074 126 Updated Jul 4, 2025

Computer vision utils for Blender (generate instance annoatation, depth and 6D pose by one line code)

Python 484 60 Updated Mar 11, 2024

An archive of John Carmack’s .plan files in readable markdown format

197 15 Updated Apr 25, 2017

A detailed formulae explanation on gaussian splatting

576 11 Updated Nov 12, 2023
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