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

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  • Stars
    star
    6,052
  • Global Org. Rank 3,845 (Top 2 %)
  • Registered about 10 years ago
  • Most used languages
    C++
         52.8 %
    Python
         19.4 %
    MATLAB
         11.1 %
    Java
         8.3 %
    C
         5.6 %
    CMake     2.8 %
  • Location 🇺🇸 United States
  • Country Total Rank 2,022
  • Country Ranking
    MATLAB
         8
    C++
         110
    CMake     353
    Python
         2,487
    Java
         2,585
    C
         9,837

Top repositories

1

open_vins

An open source platform for visual-inertial navigation research.
C++
2,111
star
2

R-VIO

Robocentric Visual-Inertial Odometry
C++
737
star
3

kalibr_allan

IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.
MATLAB
577
star
4

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.
C++
427
star
5

cpi

Closed-form Preintegration for Graph-based Visual-Inertial Navigation
C++
249
star
6

R-VIO2

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
C++
228
star
7

ov_plane

A monocular plane-aided visual-inertial odometry
C++
197
star
8

calc

Convolutional Autoencoder for Loop Closure
Python
190
star
9

lips

LiDAR-Inertial 3D Plane Simulator
MATLAB
150
star
10

suo_slam

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
Python
133
star
11

android-camera-calibration

Updated (opencv3 and camera2 API) android camera calibration application
C++
118
star
12

calc2.0

CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure
Python
95
star
13

vicon2gt

Vicon-IMU fusion for groundtruth trajectory generation.
C++
95
star
14

ov_maplab

Interface for OpenVINS with the maplab project
C++
82
star
15

ocekf-slam

Observability-Constrained (OC)-EKF for 2D SLAM
MATLAB
79
star
16

android-dataset-recorder

Dataset collection app that will collect both IMG and IMU measurements for offline processing
Java
60
star
17

icalib.github.io

Inertial Aided Multi-Sensor Calibration
60
star
18

ov_secondary

Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.
C++
59
star
19

ar_table_dataset

Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.
Python
53
star
20

reach_ros_node

ROS driver for the Reach RTK GNSS module by Emlid
Python
36
star
21

mast_project

Underwater Camera and Sonar SLAM (Kevin and Linde's MAST class project)
C++
36
star
22

pointgrey_ladybug

ROS Driver for Pointgrey Ladybug Cameras
C++
30
star
23

clatt

cooperative localization and target tracking
MATLAB
28
star
24

android_sensors_driver

ROS Driver for Android Sensors (opencv3 and camera1 API)
Java
26
star
25

xsens_standalone

Python Standalone library for use with the xsens IMU
Python
19
star
26

rosbags

Github mirror of https://gitlab.com/ternaris/rosbags
Python
18
star
27

kitti_parser

C++ parser for the RAW KITTI dataset, with callbacks
C++
15
star
28

gps_path_pub

Handy publishing of a path and and frame from a single GPS sensor.
C++
13
star
29

CSO

Calibration the rigid transformation between the stereo and odometry
C++
12
star
30

img_imu_record

Easy recording of image and imu data to disk
C++
9
star
31

orb_slam_mapmerge

A Versatile and Accurate Monocular SLAM (with map merging)
C++
7
star
32

apriltags-cpp

A simple ros wrapper for apriltag-cpp
C++
7
star
33

vins_source

Helper package with launch files for getting imu and video sources.
CMake
6
star
34

microstrain_comm

IMU driver for the Microstrain 3DM-GX3®-25. Converted to run on the ROS framework.
C
5
star
35

Microstrain-3DM-GX3-35

ROS driver for Microstrain 3DM-GX3-35 IMU
C
3
star
36

firefly

AscTec Firefly Documentation
1
star
37

ZED_Odom_Grabber

Grab zed stereo images and odometry from turtlebot at the same time.
C++
1
star
38

dvs128-viewer

A driver for dvs128 camera
Java
1
star