akashprakas

nano-pgo

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Algorithms

C++ implementation of basic algorithms

liorf_localization

A simple location system based on a priori map, which is based on the lio-sam framework

Cpp-Learning-Resources

C++ Learning Resources

mad-icp

Minimal, robust, accurate and real-time LiDAR odometry

joint-lidar-camera-calib

Joint intrinsic and extrinsic LiDAR-camera calibration.

Point-SLAM

Point-SLAM: Dense Neural Point Cloud-based SLAM

colmap

COLMAP - Structure-from-Motion and Multi-View Stereo

3DVehicleDynamicsStateEstimation

3D-PointMass-EKF for State Estimation coupled with STM-UKF for Side Slip Angle Estimation

open3d_slam

Pointcloud-based graph SLAM written in C++ using open3D library.

in_simple_english

Small projects to clarify big concepts

scientific-python.org

Source for the Scientific Python Project homepage.

HighwayEnv

A minimalist environment for decision-making in autonomous driving

structure-from-motion

Structure-from-Motion from scratch, using Numpy and OpenCV.

direct_visual_lidar_calibration

A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]

data-fusion

MTT

Implementation of several Bayesian multi-target tracking algorithms, including Poisson multi-Bernoulli mixture filters for sets of targets and sets of trajectories. The repository also includes the GOSPA metric and a metric for sets of trajectories to evaluate performance.

glomap

GLOMAP - Global Structured-from-Motion Revisited

track_with_confidence

Official implementation of the algorithm presented in the paper "A Two-Stage Data Association Approach for 3D Multi-Object Tracking”

KalmanFilter-Vehicle-GNSS-INS

In this project, I implemented a Kalman filter on IMU and GPS data recorded from high accuracy sensors.

CPP_Optimizations_Diary

Tips and tricks to optimize your C++ code

awesome-mobile-robotics

Useful links of different content related to AI, Computer Vision, and Robotics.

toy-pose-graph-optimization-ceres

toy SLAM pose graph optimization using manhattan dataset and ceres-solver

quaternion-based_kalman_filter

g2o_tutorial

Tutorial on pose graph optimization using g2o

drift

Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms

invariant-ekf

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

geomstats

Computations and statistics on manifolds with geometric structures.

Birds-eye-view-Perception

[IEEE T-PAMI] Awesome BEV perception research and cookbook for all level audience in autonomous diriving

Stone-Soup

A software project to provide the target tracking community with a framework for the development and testing of tracking algorithms.