far_planner

Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

airOMPL_planner

OMPL-based Route Planner for Aerial Navigation

Real_Time_Stair_Detector

A light-weighted stair detection algorithm using 2D correlation analysis on real-time LiDAR scans

greedy_exploration_planner

A light-weighted local greedy exploration planner based on line-of-sight visibility in LiDAR point clouds.

sfm-3d-vision

A differentiable Structure from Motion (SfM) pipeline, implemented in PyTorch, Kornia and Pypose, showcasing efficient feature extraction, matching, triangulation processes, and effective optimization of reprojection error, aimed to advance computer vision research.