jianhengLiu

VINS-RGBD-FAST

VINS-RGBD-FAST is a SLAM system based on VINS-RGBD. We do some refinements to accelerate the system's performance in resource-constrained embedded platforms, like HUAWEI Atlas 200DK, Raspberry Pi.

ubuntu_deploy

FlyingManipulatorAutoCatch

gaussian-splatting

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

ifopt

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

iSDF

Real-time Neural Signed Distance Fields for Robot Perception

jianhengLiu.github.io

nerfstudio

A collaboration friendly studio for NeRFs

rosbag_tools

Merge rosbag according to msg's time stamp

rviz_map_plugin

diff-gaussian-rasterization

evaluate_3d_reconstruction_lib

Given an input mesh, computes the F-score. This assumes that an appropriate path to the ground truth mesh is available.

Gaussian-SLAM

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

image_to_rviz

instant-ngp

Instant neural graphics primitives: lightning fast NeRF and more

kaolin

A PyTorch Library for Accelerating 3D Deep Learning Research

kaolin-wisp

NVIDIA Kaolin Wisp is a PyTorch library powered by NVIDIA Kaolin Core to work with neural fields (including NeRFs, NGLOD, instant-ngp and VQAD).

kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.

llog

MonoGS

[CVPR'24 Highlight] Gaussian Splatting SLAM

nerfacc

A General NeRF Acceleration Toolbox in PyTorch.

ply_utils

px4ctl

Replica-Dataset

The Replica Dataset v1 as published in https://arxiv.org/abs/1906.05797 .

rviz_cinematographer

Easy to use tools to create and edit trajectories for the rviz camera.

sel_map

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA' 23)

vdbfusion

C++/Python Sparse Volumetric TSDF Fusion

vdbfusion_ros

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

voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.