Stars
A simple and efficient 3D line detection algorithm for large scale unorganized point cloud
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
A fast and robust point cloud registration library
[RA-L] FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models
automatic differentiation made easier for C++
A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter
DN-Splatter + AGS-Mesh: Depth and Normal Priors for Gaussian Splatting
[CVPR 25] Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigation
Official Repository for "Eureka: Human-Level Reward Design via Coding Large Language Models" (ICLR 2024)
An image retrieval model for any localization task
A fast and robust global registration library for outdoor LiDAR point clouds.
Source code for the ECCV 2022 paper "Benchmarking Localization and Mapping for Augmented Reality".
A framework for few-shot evaluation of language models.
[T-RO 2025] SG-Reg: Generalizable and Efficient Scene Graph Registration
G-mapping and Hector-Slam python implementation
[CVPR 2025 Best Paper Award] VGGT: Visual Geometry Grounded Transformer
3D Gaussian Splatting Converter: A tool to seamlessly convert 3DGS .ply files to a Cloud Compare-friendly format and vice-versa. Features include RGB coloring, density filtering, and flyer removal …
3DGS-to-PC: Convert a 3D Gaussian splatting scene into a dense point cloud or basic mesh with advanced customisation options and high-accuracy rendered point colours
The official implementation of Segment Any 3D GAussians (AAAI-25)
Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data.
Implementation for the "Surface Reconstruction from 3D Line Segments" paper.