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MIT-SPARK

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Top repositories

1

Kimera

Index repo for Kimera code
1,800
star
2

TEASER-plusplus

A fast and robust point cloud registration library
C++
1,753
star
3

Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
C++
1,534
star
4

Kimera-Semantics

Real-Time 3D Semantic Reconstruction from 2D data
C++
640
star
5

Hydra

C++
583
star
6

Kimera-RPGO

Robust Pose Graph Optimization
C++
468
star
7

Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
C++
371
star
8

Kimera-Multi

Index repo for Kimera-Multi system
Shell
327
star
9

Khronos

Spatio-Temporal Metric-Semantic SLAM
C++
273
star
10

Loc-NeRF

Monte Carlo Localization using Neural Radiance Fields
Python
259
star
11

Kimera-Multi-Data

A large-scale multi-robot dataset for multi-robot SLAM
149
star
12

GNC-and-ADAPT

Graduated Non-Convexity (GNC) and Adaptive Trimming (ADAPT) algorithms for outlier robust estimation
MATLAB
112
star
13

CertifiablyRobustPerception

Certifiable Outlier-Robust Geometric Perception
MATLAB
107
star
14

PD-MeshNet

Primal-Dual Mesh Convolutional Neural Networks
Python
106
star
15

GlobalOptimizationTutorial

Hands-on Tutorial for Global Optimization in Matlab
MATLAB
104
star
16

llm_scene_understanding

HTML
71
star
17

STRIDE

Solver for Large-Scale Rank-One Semidefinite Relaxations
MATLAB
66
star
18

Clio

66
star
19

VNAV-labs

Labs for MIT 16.485
Python
64
star
20

Spatial-Hash

Minimal C++ library for spatial data structures based on voxel hashing
C++
57
star
21

KISS-Matcher

52
star
22

Hydra-ROS

Hydra ROS Interface
C++
39
star
23

Spark-DSG

Scene Graph API (C++ and Python)
C++
37
star
24

Kimera-VIO-ROS2

C++
36
star
25

Kimera-Multi-LCD

C++
34
star
26

Kimera-VIO-Evaluation

Code to automatically evaluate and tune parameters for Kimera-VIO pipeline.
Python
33
star
27

Kimera-PGMO

C++
33
star
28

ROBIN

C++
31
star
29

config_utilities

Automatic C++ config structs and tools.
C++
28
star
30

pose_graph_tools

C++
26
star
31

pose-baselines

Jupyter Notebook
25
star
32

estimation-contracts

MATLAB
25
star
33

neural_tree

Python
22
star
34

C-3PO

Python
21
star
35

Kimera-Distributed

C++
21
star
36

MiDiffusion

Python
17
star
37

LP2

Long-term Human Trajectory Prediction using 3D DSGs
15
star
38

GlobalOptimization-ICCV2019

ICCV 2019 Tutorial: Global Optimization for Geometric Understanding with Provable Guarantees
TeX
14
star
39

FUSES

C++
11
star
40

Hydra-GNN

Room classification network training and inference code
Python
10
star
41

certifiable_tracking

MATLAB
8
star
42

PACE

Index repo for the PACE project
Python
7
star
43

robotRepresentations-RSS2023

Robot Representations Workshop @ RSS 2023
SCSS
6
star
44

ensemble_pose

Self-training for an ensemble of object pose estimators
Python
5
star
45

ford-paper-params

Parameters for competitor pipelines for the Kimera Multicamera project
5
star
46

CertifiablePerception-RSS2020

Workshop website on Certifiable Robot Perception for RSS2020
TeX
5
star
47

Longterm-Perception-WS

Workshop on Long-term Perception for Autonomy in Dynamic Human-shared Environments
SCSS
4
star
48

ThreedFront

Python
4
star
49

PerceptionMonitoring

Python
3
star
50

dbow2_catkin

CMake
2
star
51

PAL-ICRA2020

Ruby
2
star
52

kimera-multi-vocab

Vocabulary file for Kimera-Multi in the Kimera-Multi dataset
2
star
53

VNAV2020-handouts

Handouts/webpage for VNAV 2020
HTML
1
star