Discover PRBonn/HAPT Open Source project

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Python
Created over 2 years ago
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kiss-icp

A LiDAR odometry pipeline that just works

Python

1,479

depth_clustering

🚕 Fast and robust clustering of point clouds generated with a Velodyne sensor.

C++

1,105

lidar-bonnetal

Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving

Python

912

semantic_suma

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

C++

902

semantic-kitti-api

SemanticKITTI API for visualizing dataset, processing data, and evaluating results.

Python

762

OverlapNet

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

Python

649

LiDAR-MOS

(LMNet) Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data (RAL/IROS 2021)

Python

574

vdbfusion

C++/Python Sparse Volumetric TSDF Fusion

C++

456

SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)

Python

443

puma

Poisson Surface Reconstruction for LiDAR Odometry and Mapping

Python

400

PIN_SLAM

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]

Python

341

bonnet

Bonnet: An Open-Source Training and Deployment Framework for Semantic Segmentation in Robotics.

Python

323

range-mcl

Range Image-based LiDAR Localization for Autonomous Vehicles Using Mesh Maps (chen2021icra)

Python

278

overlap_localization

chen2020iros: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

Python

270

rangenet_lib

Inference module for RangeNet++ (milioto2019iros, chen2019iros)

C++

238

refusion

ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals

C++

235

bonnetal

Bonnet and then some! Deep Learning Framework for various Image Recognition Tasks. Photogrammetry and Robotics Lab, University of Bonn

Python

226

4DMOS

Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions (RAL 2022)

Python

201

MapClosures

Effectively Detecting Loop Closures using Point Cloud Density Maps

Python

196

LiDiff

[CVPR'24] Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion

Python

194

visual-crop-row-navigation

This is a visual-servoing based robot navigation framework tailored for navigating in row-crop fields. It uses the images from two on-board cameras and exploits the regular crop-row structure present in the fields for navigation, without performing explicit localization or mapping. It allows the robot to follow the crop-rows accurately and handles the switch to the next row seamlessly within the same framework.

C++

178

pole-localization

Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments

Python

167

online_place_recognition

Graph-based image sequences matching for the visual place recognition in changing environments.

C++

150

agribot

The mission of the project is to build an agricultural robot (AgriBot) from scratch with the aim of serving as a data-recording platform in fields. For further information about the design and purpose of the robot, please follow the About the AgriBot Project page

C++

143

LocNDF

LocNDF: Neural Distance Field Mapping for Robot Localization

Python

136

4dNDF

3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation (CVPR 2024)

Python

131

make_it_dense

Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

Python

127

point-cloud-prediction

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks

Python

125

ir-mcl

IR-MCL: Implicit Representation-Based Online Global Localization https://arxiv.org/abs/2210.03113

Python

120

MutiverseOdometry

Code for Simple But Effective Redundant Odometry for Autonomous Vehicles

C++

111

vpr_relocalization

The framework for visual place recognition in changing enviroments. Matches two sequence of images of arbitrary trajectory overlap.

C++

107

TARL

[CVPR'23] TARL: Temporal Consistent 3D LiDAR Representation Learning for Semantic Perception in Autonomous Driving

Python

lidar-visualizer

A LiDAR visualization tool for all your datasets

Python

deep-point-map-compression

Python

segcontrast

Python

auto-mos

Automatic Labeling to Generate Training Data for Online LiDAR-based Moving Object Segmentation

Python

3DUIS

Python

lidar_transfer

Code for Langer et al. "Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks", IROS, 2020.

Python

descriptor-dr

[ICRA 2023] Learning-Based Dimensionality Reduction for Computing Compact and Effective Local Feature Descriptors

Python

hsmcl

C++

SIMP

Python

ContMAV

[CVPR2024] Open-world Semantic Segmentation Including Class Similarity

Python

extrinsic_calibration

Motion Based Multi-Sensor Extrinsic Calibration

Python

vdbfusion_ros

ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion

C++

DCPCR

DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments

Python

HortiMapping

🫑 Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots (IROS' 23)

Python

fast_change_detection

Fast Image-Based Geometric Change Detection Given a 3D Model

C++

contrastive_association

Contrastive Instance Association for 4D Panoptic Segmentation using Sequences of 3D LiDAR Scans

Python

retriever

Point Cloud-based Place Recognition in Compressed Map

Python

4d_plant_registration

Python

tmcl

Text Guided MCL

C++

dynamic-point-removal

Static Map Generation from 3D LiDAR Point Clouds Exploiting Ground Segmentation

Python

MaskPLS

Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving, RA-L, 2023

Python

manifold_python

Python bindings for https://github.com/hjwdzh/Manifold

C++

PS-res-excite

Python

kppr

KPPR: Exploiting Momentum Contrast for Point Cloud-Based Place Recognition

Python

goPro-meta

App to sample images from goPro Hero 5 video and syncronize sensor frames to them. Output is yaml file and extracted images.

C++

geometrical_stem_detection

Code for fast and accurate geometrical plant stem detection

C++

PartiallyObservedInverseGames.jl

An inverse game solver for inferring objectives from noise-corrupted partial state observations of non-cooperative multi-agent interactions.

Julia

pybonirob

Set of tools to access bonirob datasets in Python

Python

phenobench-baselines

Baselines of the PhenoBench Dataset

Python

voxblox_pybind

Python bindings for the Voxblox library

C++

catkin_tools_fetch

🐕 "fetch" and "update" dependencies of projects in your catkin workspace with a new verb "dependencies" for catkin_tools

Python

nuscenes2kitti

Python

StyleGenForLabels

StyleGAN-based generation of labels for crop-weed segmentation

Python

plants_temporal_matcher

This system can perform 3D point-to-point associations between plants' point clouds acquired in different session even in presence of highly repetitive structures and drastic changes.

Python

ipb_homework_checker

✔️ A generic homework checker that we use to automatically check students homework

Python

leaf_mesher

Precise 3D Reconstruction of Plants from UAV Imagery Combining Bundle Adjustment and Template Matching

sigf

Image Matching for Crop Fields Using Similarity Invariant Geometric Feature

MATLAB

DG-CWS

Towards Domain Generalization in Crop and Weed Segmentation for Precision Farming Robots

Python

agri-pretraining

Python

leaf-plant-instance-segmentation

In-Field Phenotyping Based on Crop Leaf and Plant Instance Segmentation

Python

MinkowskiPanoptic

Panoptic segmentation baseline implemented based on the MinkowskiEngine library

Python

Unsupervised-Pre-Training-for-3D-Leaf-Instance-Segmentation

Official repository of Unsupervised Pre-Training for 3D Leaf Instance Segmentation by Roggiolani et al.

Python

vdb_to_numpy

Tool to convert VDB grids to numpy arrays.

Jupyter Notebook

g2o_catkin

:octocat: G2O meets catkin

CMake

ipb_workspace

An empty default workspace for development inside IPB lab

plant_pcd_segmenter

High Precision Leaf Instance Segmentation for Phenotyping in Point Clouds Obtained Under Real Field Conditions

cinderella-geometric-animations

Animations of geometric properties relevant to Photogrammetry, Computer Vision and Robotics created with Cinderella

HTML

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