• Stars
    star
    75
  • Rank 424,578 (Top 9 %)
  • Language
    Python
  • License
    MIT License
  • Created about 1 year ago
  • Updated about 1 year ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

LiDAR-based 3D global registration benchmark.

More Repositories

1

VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
C++
4,967
star
2

VINS-Fusion

An optimization-based multi-sensor state estimator
C++
3,181
star
3

Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
C++
2,433
star
4

A-LOAM

Advanced implementation of LOAM
C++
1,957
star
5

VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
C++
1,269
star
6

Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
C++
951
star
7

GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
C++
882
star
8

FUEL

An Efficient Framework for Fast UAV Exploration
C++
744
star
9

Stereo-RCNN

Code for 'Stereo R-CNN based 3D Object Detection for Autonomous Driving' (CVPR 2019)
Python
690
star
10

DenseSurfelMapping

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"
C++
661
star
11

FIESTA

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots
C++
617
star
12

EPSILON

C++
493
star
13

ESVO

This repository maintains the implementation of "Event-based Stereo Visual Odometry".
C++
408
star
14

Btraj

Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018
C++
407
star
15

grad_traj_optimization

Gradient-Based Online Safe Trajectory Generator
C++
363
star
16

MonoLaneMapping

Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)
Python
349
star
17

open_quadtree_mapping

This is a monocular dense mapping system corresponding to IROS 2018 "Quadtree-accelerated Real-time Monocular Dense Mapping"
Cuda
347
star
18

MVDepthNet

This repository provides PyTorch implementation for 3DV 2018 paper "MVDepthNet: real-time multiview depth estimation neural network"
Python
305
star
19

D2SLAM

$D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
Jupyter Notebook
277
star
20

OmniNxt

[IROS 2024 Oral] A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception
255
star
21

G3Reg

A fast and robust global registration library for outdoor LiDAR point clouds.
C++
200
star
22

GVINS-Dataset

A dataset containing synchronized visual, inertial and GNSS raw measurements.
C++
197
star
23

Nxt-FC

Mini PX4 for UAV Group
Shell
187
star
24

Omni-swarm

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.
Jupyter Notebook
179
star
25

spatiotemporal_semantic_corridor

Implementation of the paper "Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor".
C++
160
star
26

PredRecon

[ICRA 2023] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction
C++
156
star
27

FC-Planner

[ICRA 2024 Best UAV Paper Award Finalist] An Efficient Gloabl Planner for Aerial Coverage
C++
155
star
28

eudm_planner

Implementation of the paper "Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching".
C++
139
star
29

mockamap

a simple map generator based on ROS
C++
133
star
30

DSP

Trajectory Prediction with Graph-based Dual-scale Context Fusion
Python
132
star
31

pointcloudTraj

Trajectory generation on point clouds
C++
128
star
32

Pagor

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)
C++
127
star
33

Flow-Motion-Depth

This is the project page of the paper "Flow-Motion and Depth Network for Monocular Stereo and Beyond''
Python
114
star
34

gnss_comm

Basic definitions and utility functions for GNSS raw measurement processing
C++
111
star
35

SIMPL

SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving
Python
107
star
36

VINS-kidnap

a place recognition system for VINS-fusion
105
star
37

ublox_driver

A driver for u-blox receiver (ZED-F9P) with ros support
C++
102
star
38

TopoTraj

A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
90
star
39

TimeOptimizer

Optimal Time Allocation for Quadrotor Trajectory Generation
C++
83
star
40

AutoTrans

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation.
C++
76
star
41

Pinhole-Fisheye-Mapping

70
star
42

UniQuad

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application
67
star
43

IMPACTOR

Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads
C
67
star
44

SLABIM

An open-sourced SLAM dataset that couples with BIM (Building Information Modeling).
Python
66
star
45

HKUST-ELEC5660-Introduction-to-Aerial-Robotics

Repo for HKUST ELEC5660 Course Notes & Lab Tutorial & Project Docker
C++
57
star
46

EMSGC

This repository maintains the implementation of the paper "Event-based Motion Segmentation withSpatio-Temporal Graph Cuts".
C++
56
star
47

VINS-Fisheye

Fisheye version of VINS-Fusion
C++
52
star
48

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.
49
star
49

APACE

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)
C++
37
star
50

plan_utils

Some useful pkgs for running planning simulation.
Makefile
29
star
51

edge_alignment

Clone of https://github.com/mpkuse/edge_alignment
C++
26
star
52

mockasimulator

C++
21
star
53

probabilistic_mapping

Probabilistic Dense Mapping
C++
19
star
54

swarm_gcs

Ground Station Software for aerial robots.
JavaScript
18
star
55

stTraj

Spatial-temporal Trajectory Planning for UAV Teach-and-Repeat
15
star
56

MASSTAR

A Multi-modal Large-scale Scene Dataset and A Versatile Toolchain for Scene Prediction
13
star
57

SLIM

7
star
58

mockacam

Camera package of mocka WFB
C++
3
star
59

RI_Mocap

Mocap device driver of RI
C++
1
star