MIT-SPARK

TEASER-plusplus

A fast and robust point cloud registration library

Hydra

VGGT-SLAM

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold

KISS-Matcher

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Kimera-RPGO

Robust Pose Graph Optimization

Khronos

Spatio-Temporal Metric-Semantic SLAM

spark-fast-lio

FAST-LIO2 on ROS2 with various functionalities for LIO mapping

BUFFER-X

[ICCV 2025, Highlight] BUFFER-X: Zero-Shot Point Cloud Registration

Clio

ROBIN

Spatial-Hash

Minimal C++ library for spatial data structures based on voxel-block-hashing

Spark-DSG

Scene Graph API (C++ and Python)

Hydra-ROS

Hydra ROS Interface

Kimera-PGMO

config_utilities

Automatic C++ config structs and tools.

semantic_inference

ROS interface to closed and open-set semantic segmentation models

pose_graph_tools

Fast-ShapeAndPose

Shape and pose estimation via eigenproblem with eigenvector nonlinearities.

Ouroboros

Visual Loop Closure Module for SPARK

certifiable_tracking

Project repo for "A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking"

Awesome-DCIST-T4

Curated list of papers and resources focused on the MIT DCIST stack intended to keep pace with the anticipated surge of research in the coming months.

gtsam_with_sl4

DCIST-2025-SceneGraphLab

Lab at the DCIST 2025 PI meeting focusing on 3D scene graphs

Longterm-Perception-WS

Workshop on Long-term Perception for Autonomy in Dynamic Human-shared Environments

ROS-System-Monitor

Utility for displaying status of ROS Nodes

Ianvs

ROS2 Transition Package

Omniplanner

Infrastructure for composing multiple types of planning paradigms.

spark_dataset_interfaces

Python library for interacting with various image datasets

mid_level_planner

Spark-Config

Utility for loading Python configuration from YAML.