MIT's Marine Robotics Group

dcsam

Factored inference for discrete-continuous smoothing and mapping.

mac

Maximizing algebraic connectivity for graph sparsification

score

Official implementation of "SCORE: Second Order Conic Initialization for RA-SLAM"

NF-iSAM

The codebase of normalizing flows for incremental soomthing and mapping (NF-iSAM). The datasets used for performance evaluation are provided as well.

dcsam-examples

Tutorial examples and sample applications for DC-SAM.

cora

This is the official repository for the paper "Certifiably Correct Range-Aided SLAM"

cora-matlab

Official implementation of "Certifiably Correct Range-Aided SLAM"

PyFactorGraph

A python factor graph object for SLAM problems

HoloOceanUtils

Utilities for HoloOcean, mostly for data collection.

awesome-object-SLAM

A curated list of Object SLAM papers and resources

nsfg

cora-experiments

Experiments from "Certifiably Correct Range-Aided SLAM"

lcgp

Planning for multi-robot networks localizing via range measurements.

tonioviz

Finally, a nice C++ visualization tool.

procman_ros

sparse2022tr

Supplement to Spectral Measurement Sparsification for Pose-Graph SLAM, submitted to IROS 2022

dcsam2022tr

Technical report on Discrete-Continuous Smoothing and Mapping

gtsam-range-aided-slam

A GTSAM-based solver for range-aided SLAM problems

manhattan-world-sim

apriltag_ros

this fork aims at adding extra synthetic tag detections around a true detection.

easy_handeye

Automated, hardware-independent Hand-Eye Calibration

m-explore

ROS packages for multi robot exploration

manydepth

[CVPR 2021] Self-supervised depth estimation from short sequences

moos_formation_path

opti-acoustic-semantics

Code for running optical image segmentation synced with sonar data for object ranging

slam-super-6d

SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation

sonar_oculus

Code for interfacing with Oculus m750d and m1200d sonars

spectral2021tr

Technical report on Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM

summer-research-write-up

Abigail and Calvin's write-up of summer research.

vins-application

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards