Explore @rpng Open Source projects

Robot Perception & Navigation Group (RPNG) (@rpng)

rpng

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open_vins

An open source platform for visual-inertial navigation research.

R-VIO

Robocentric Visual-Inertial Odometry

kalibr_allan

IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.

MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

cpi

Closed-form Preintegration for Graph-based Visual-Inertial Navigation

R-VIO2

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

ov_plane

A monocular plane-aided visual-inertial odometry

calc

Convolutional Autoencoder for Loop Closure

lips

LiDAR-Inertial 3D Plane Simulator

suo_slam

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation

android-camera-calibration

Updated (opencv3 and camera2 API) android camera calibration application

calc2.0

CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure

vicon2gt

Vicon-IMU fusion for groundtruth trajectory generation.

ov_maplab

Interface for OpenVINS with the maplab project

ocekf-slam

Observability-Constrained (OC)-EKF for 2D SLAM

android-dataset-recorder

Dataset collection app that will collect both IMG and IMU measurements for offline processing

icalib.github.io

Inertial Aided Multi-Sensor Calibration

ov_secondary

Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.

ar_table_dataset

Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.

reach_ros_node

ROS driver for the Reach RTK GNSS module by Emlid

mast_project

Underwater Camera and Sonar SLAM (Kevin and Linde's MAST class project)

pointgrey_ladybug

ROS Driver for Pointgrey Ladybug Cameras

clatt

cooperative localization and target tracking

android_sensors_driver

ROS Driver for Android Sensors (opencv3 and camera1 API)

xsens_standalone

Python Standalone library for use with the xsens IMU

rosbags

Github mirror of https://gitlab.com/ternaris/rosbags

kitti_parser

C++ parser for the RAW KITTI dataset, with callbacks

gps_path_pub

Handy publishing of a path and and frame from a single GPS sensor.

CSO

Calibration the rigid transformation between the stereo and odometry

img_imu_record

Easy recording of image and imu data to disk

orb_slam_mapmerge

A Versatile and Accurate Monocular SLAM (with map merging)

apriltags-cpp

A simple ros wrapper for apriltag-cpp

vins_source

Helper package with launch files for getting imu and video sources.

microstrain_comm

IMU driver for the Microstrain 3DM-GX3®-25. Converted to run on the ROS framework.

Microstrain-3DM-GX3-35

ROS driver for Microstrain 3DM-GX3-35 IMU

firefly

AscTec Firefly Documentation

ZED_Odom_Grabber

Grab zed stereo images and odometry from turtlebot at the same time.

dvs128-viewer

A driver for dvs128 camera