Explore @HKUST-Aerial-Robotics Open Source projects

HKUST Aerial Robotics Group (@HKUST-Aerial-Robotics)

HKUST-Aerial-Robotics

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VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

VINS-Fusion

An optimization-based multi-sensor state estimator

Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

A-LOAM

Advanced implementation of LOAM

VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

FUEL

An Efficient Framework for Fast UAV Exploration

Stereo-RCNN

Code for 'Stereo R-CNN based 3D Object Detection for Autonomous Driving' (CVPR 2019)

DenseSurfelMapping

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"

FIESTA

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

EPSILON

ESVO

This repository maintains the implementation of "Event-based Stereo Visual Odometry".

Btraj

Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018

grad_traj_optimization

Gradient-Based Online Safe Trajectory Generator

open_quadtree_mapping

This is a monocular dense mapping system corresponding to IROS 2018 "Quadtree-accelerated Real-time Monocular Dense Mapping"

MVDepthNet

This repository provides PyTorch implementation for 3DV 2018 paper "MVDepthNet: real-time multiview depth estimation neural network"

MonoLaneMapping

Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)

D2SLAM

$D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm

Jupyter Notebook

Omni-swarm

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.

Jupyter Notebook

GVINS-Dataset

A dataset containing synchronized visual, inertial and GNSS raw measurements.

spatiotemporal_semantic_corridor

Implementation of the paper "Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor".

PredRecon

A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction

eudm_planner

Implementation of the paper "Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching".

DSP

Trajectory Prediction with Graph-based Dual-scale Context Fusion

Nxt-FC

Mini PX4 for UAV Group

mockamap

a simple map generator based on ROS

pointcloudTraj

Trajectory generation on point clouds

Flow-Motion-Depth

This is the project page of the paper "Flow-Motion and Depth Network for Monocular Stereo and Beyond''

Pagor

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)

SIMPL

SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving

VINS-kidnap

a place recognition system for VINS-fusion

gnss_comm

Basic definitions and utility functions for GNSS raw measurement processing

G3Reg

G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

ublox_driver

A driver for u-blox receiver (ZED-F9P) with ros support

TopoTraj

A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

TimeOptimizer

Optimal Time Allocation for Quadrotor Trajectory Generation

Pinhole-Fisheye-Mapping

FC-Planner

An Efficient Planner for Fast Aerial Coverage

AutoTrans

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation.

EMSGC

This repository maintains the implementation of the paper "Event-based Motion Segmentation withSpatio-Temporal Graph Cuts".

LiDAR-Registration-Benchmark

LiDAR-based 3D global registration benchmark.

VINS-Fisheye

Fisheye version of VINS-Fusion

GeometricPretraining

This is the code base for paper ``Geometric Pretraining for Monocular Depth Estimation``, the paper is currently under review. The preprint will be available when it is ready.

HKUST-ELEC5660-Introduction-to-Aerial-Robotics

Repo for HKUST ELEC5660 Course Notes & Lab Tutorial & Project Docker

OmniNxt

A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception

IMPACTOR

Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads

plan_utils

Some useful pkgs for running planning simulation.

edge_alignment

Clone of https://github.com/mpkuse/edge_alignment

mockasimulator

probabilistic_mapping

Probabilistic Dense Mapping

swarm_gcs

Ground Station Software for aerial robots.

stTraj

Spatial-temporal Trajectory Planning for UAV Teach-and-Repeat

APACE

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)

MASSTAR

A Multi-modal Large-scale Scene Dataset and A Versatile Toolchain for Scene Prediction

mockacam

Camera package of mocka WFB

RI_Mocap

Mocap device driver of RI