Discover HKUST-Aerial-Robotics/swarm

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HKUST-Aerial-Robotics

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Ground Station Software for aerial robots.

VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

C++

4,967

VINS-Fusion

An optimization-based multi-sensor state estimator

C++

3,181

Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

C++

2,433

A-LOAM

Advanced implementation of LOAM

C++

1,957

VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

C++

1,269

Teach-Repeat-Replan

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

C++

951

GVINS

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

C++

882

FUEL

An Efficient Framework for Fast UAV Exploration

C++

744

Stereo-RCNN

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

Python

690

DenseSurfelMapping

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

C++

661

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".

C++

408

Btraj

Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018

C++

407

grad_traj_optimization

Gradient-Based Online Safe Trajectory Generator

C++

363

MonoLaneMapping

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

Python

349

open_quadtree_mapping

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

Cuda

347

MVDepthNet

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

Python

305

D2SLAM

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

Jupyter Notebook

277

OmniNxt

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

255

G3Reg

A fast and robust global registration library for outdoor LiDAR point clouds.

C++

200

GVINS-Dataset

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

C++

197

Nxt-FC

Mini PX4 for UAV Group

Shell

187

Omni-swarm

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

Jupyter Notebook

179

spatiotemporal_semantic_corridor

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

C++

160

PredRecon

[ICRA 2023] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction

C++

156

FC-Planner

[ICRA 2024 Best UAV Paper Award Finalist] An Efficient Gloabl Planner for Aerial Coverage

C++

155

eudm_planner

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

C++

139

mockamap

a simple map generator based on ROS

C++

133

DSP

Trajectory Prediction with Graph-based Dual-scale Context Fusion

Python

132

pointcloudTraj

Trajectory generation on point clouds

C++

128

Pagor

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

C++

127

Flow-Motion-Depth

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

Python

114

gnss_comm

Basic definitions and utility functions for GNSS raw measurement processing

C++

111

SIMPL

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

Python

107

VINS-kidnap

a place recognition system for VINS-fusion

105

ublox_driver

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

C++

102

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

C++

AutoTrans

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

C++

LiDAR-Registration-Benchmark

LiDAR-based 3D global registration benchmark.

Python

Pinhole-Fisheye-Mapping

UniQuad

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

IMPACTOR

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

SLABIM

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

Python

HKUST-ELEC5660-Introduction-to-Aerial-Robotics

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

C++

EMSGC

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

C++

VINS-Fisheye

Fisheye version of VINS-Fusion

C++

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.

APACE

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

C++

plan_utils

Some useful pkgs for running planning simulation.

Makefile

edge_alignment

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

C++

mockasimulator

C++

probabilistic_mapping

Probabilistic Dense Mapping

C++

stTraj

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

MASSTAR

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

SLIM

mockacam

Camera package of mocka WFB

C++

RI_Mocap

Mocap device driver of RI

C++

HKUST-Aerial-Robotics/swarm_gcs

HKUST-Aerial-Robotics

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