Robot Perception & Navigation Group (RPNG)'s repositories
MINS
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
icalib.github.io
Inertial Aided Multi-Sensor Calibration
ar_table_dataset
Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.
reach_ros_node
ROS driver for the Reach RTK GNSS module by Emlid
pointgrey_ladybug
ROS Driver for Pointgrey Ladybug Cameras
xsens_standalone
Python Standalone library for use with the xsens IMU
gps_path_pub
Handy publishing of a path and and frame from a single GPS sensor.
apriltags-cpp
A simple ros wrapper for apriltag-cpp
OA-LICalib
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
gaussian_splatting
The beginnings of Gaussian Splats into VINS family
xsens_mti_ros_node
ROS node driver for Xsens devices. Edited to work with MTI-G-700 and Python3
gaussian-splatting-cuda
3D Gaussian Splatting into VINS family
Hierarchical-Localization
Visual localization made easy with hloc
instant_ngp
Instant neural graphics primitives: lightning fast NeRF and more
TLIO
Learning-based Inertial Odometry based on TLIO