ROS

depth_clusteringPRBonn/depth_clustering

Fast and robust algorithm for segmenting Velodyne LiDAR point clouds into objects for autonomous driving applications.

rovioethz-asl/rovio

A robust visual-inertial odometry framework for real-time motion estimation using cameras and IMUs.

rosbridge_suiteRobotWebTools/rosbridge_suite

A JSON interface to ROS that enables web and non-ROS clients to interact with ROS topics, services, and parameters via WebSockets or TCP.

rpg_trajectory_evaluationuzh-rpg/rpg_trajectory_evaluation

A Python toolbox for quantitative evaluation of visual(-inertial) odometry trajectories using alignment methods and error metrics.

marvrosmavlink/mavros

A MAVLink to ROS gateway enabling communication between autonomous vehicles and the Robot Operating System.

deep_object_poseNVlabs/Deep_Object_Pose

A deep learning system for detecting known objects and estimating their 6-DoF pose from RGB images.

Super-Fast-Accurate-3D-Object-Detectionmaudzung/Super-Fast-Accurate-3D-Object-Detection

A PyTorch implementation for super fast and accurate 3D object detection using LiDAR point clouds, featuring an anchor-free approach.

segmapethz-asl/segmap

A 3D segment-based mapping library for robot localization, environment reconstruction, and semantics extraction using LiDAR data.

Cupochneka-nat/cupoch

A CUDA-accelerated library for rapid 3D data processing in robotics, enabling GPU-powered SLAM, collision avoidance, and path planning.

lidar_alignethz-asl/lidar_align

A ROS-based method for extrinsic calibration between a 3D LiDAR and a 6-DOF pose sensor using point cloud crispness optimization.

lio-mappinghyye/lio-mapping

A tightly coupled 3D LiDAR-inertial odometry and mapping system for real-time robot localization and mapping.

interactive_slamSMRT-AIST/interactive_slam

An open-source 3D LIDAR-based mapping framework for semi-automatic, interactive correction of SLAM mapping failures.

Lanelet2fzi-forschungszentrum-informatik/Lanelet2

A C++ library for handling high-definition map data in automated driving, supporting 2D/3D maps, routing, and traffic rules.

GibsonEnvStanfordVL/GibsonEnv

A virtual environment simulator for training embodied AI agents with real-world perception and physics, featuring domain transfer to real robots.

dynamic_robot_localizationcarlosmccosta/dynamic_robot_localization

A modular ROS package for 3D/6D robot localization and point cloud registration using PCL, with dynamic map updates via OctoMap.

xivoucla-vision/xivo

An open-source visual-inertial odometry system that estimates camera motion and sparse 3D maps from camera and IMU data.

multiple-object-tracking-lidarpraveen-palanisamy/multiple-object-tracking-lidar

A C++ ROS package for real-time detection, tracking, and classification of static and dynamic objects from LIDAR point clouds.

CubeSLAM and ORB SLAMshichaoy/cube_slam

Monocular 3D object detection and SLAM system that detects and tracks cuboids to estimate camera and object poses.

GrootBehaviorTree/Groot

A graphical editor for creating and monitoring Behavior Trees, compliant with BehaviorTree.CPP.

uuv_simulatoruuvsimulator/uuv_simulator

A Gazebo/ROS-based simulator for underwater robotics, providing plugins, controllers, and vehicle models for UUV development.

fuselocusrobotics/fuse

A ROS framework for sensor fusion using nonlinear least squares optimization, enabling state estimation, localization, mapping, and calibration on robots.

gym-gazeboerlerobot/gym-gazebo

An OpenAI Gym extension for robotics simulation using ROS and Gazebo to benchmark and develop robot behaviors.

ndt_ompkoide3/ndt_omp

A multi-threaded, SSE-optimized Normal Distributions Transform algorithm for point cloud registration, offering up to 10x speedup over the original PCL implementation.

spatio_temporal_voxel_layerSteveMacenski/spatio_temporal_voxel_layer

A ROS voxel layer using OpenVDB for efficient 3D environment representation with temporal decay, replacing voxel_grid for navigation.

rviz_visual_toolsPickNikRobotics/rviz_visual_tools

A C++ API wrapper for displaying shapes, meshes, and markers in Rviz for debugging and visualizing robot data.

kitti2bagtomas789/kitti2bag

Convert KITTI autonomous driving datasets into ROS bag files for easy playback and integration.

GitHub repositorylorenwel/linefit_ground_segmentation

A C++ library for fast ground segmentation from LiDAR point clouds using the line-fit algorithm.

LARVIOPetWorm/LARVIO

A lightweight, accurate, and robust monocular visual-inertial odometry system based on a hybrid Multi-State Constraint Kalman Filter.

Kimera-SemanticsMIT-SPARK/Kimera-Semantics

Real-time 3D semantic reconstruction library for robotics, building dense metric-semantic maps from 2D sensor data.

semantic_slamfloatlazer/semantic_slam

Real-time 3D semantic mapping system using a handheld RGB-D camera, built on ROS with ORB_SLAM2 and PSPNet.

ESIMuzh-rpg/rpg_esim

An open-source simulator for event cameras, providing accurate event generation with IMU and multi-camera support.

ROS driverros-drivers/velodyne

ROS packages for interfacing with Velodyne 3D LIDAR sensors in robotics applications.

cadrl_rosmfe7/cadrl_ros

ROS package implementing a deep reinforcement learning algorithm for dynamic obstacle avoidance in ground robots.

lidar_camera_calibrationheethesh/lidar_camera_calibration

A ROS package for calibrating camera and LiDAR sensors using OpenCV's PnP and Levenberg-Marquardt optimization.

DVO: dense visual odometrytum-vision/dvo_slam

A dense visual odometry and SLAM system for RGB-D cameras that estimates camera motion from consecutive depth images.

GitHub repositoryirapkaist/removert

A LiDAR-based tool for constructing static maps by removing dynamic points from point cloud sequences.