Pinned Repositories
cora
This is the official repository for the paper "Certifiably Correct Range-Aided SLAM"
cora-matlab
Official MATLAB implementation of "Certifiably Correct Range-Aided SLAM"
dcsam
Factored inference for discrete-continuous smoothing and mapping.
dcsam-examples
Tutorial examples and sample applications for DC-SAM.
graff_cpp
A C++ interface to the Caesar.jl framework using JSON over ZeroMQ.
mac
Maximizing algebraic connectivity for graph sparsification
mixtures_semantic_slam
Probabilistic Data Association via Mixture Models for Robust Semantic 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.
PyFactorGraph
A python factor graph object for SLAM problems
score
Official implementation of "SCORE: Second Order Conic Initialization for RA-SLAM"
MIT's Marine Robotics Group's Repositories
MarineRoboticsGroup/mixtures_semantic_slam
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM
MarineRoboticsGroup/graff_cpp
A C++ interface to the Caesar.jl framework using JSON over ZeroMQ.
MarineRoboticsGroup/SwarmRobot
Documentation and code for The Thoroughbreds, the Marine Robotics Group's custom made robot swarm for range-based SLAM experiments.
MarineRoboticsGroup/robust_distributed_mapper
This library is an implementation of the algorithm described in Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach.
MarineRoboticsGroup/underwater-experiments
MarineRoboticsGroup/procman_ros
MarineRoboticsGroup/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.
MarineRoboticsGroup/LatexUtils
MarineRoboticsGroup/multi_robot_SLAM_separators
The goal of this project is to detect separators (transforms) between frames of the same places encountered by different robots for multi-robot SLAM
MarineRoboticsGroup/AirSim
Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
MarineRoboticsGroup/Buzz_SLAM
MarineRoboticsGroup/cartographer
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
MarineRoboticsGroup/Cheetah-Software
MarineRoboticsGroup/colormap
C++ headers for mapping values to colors and creating PPM images from them
MarineRoboticsGroup/DOOR-SLAM
Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
MarineRoboticsGroup/dynamixel-workbench
ROS packages for Dynamixel controllers, msgs, single_manager, toolbox, tutorials
MarineRoboticsGroup/lcm-mon
Command-line monitor for LCM in scientific and robotics applications
MarineRoboticsGroup/librealsense
Intel® RealSense™ SDK
MarineRoboticsGroup/navigation
ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
MarineRoboticsGroup/navigation_experimental
Experimental navigation techniques for ROS robots.
MarineRoboticsGroup/realsense-ros
Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module
MarineRoboticsGroup/robust_distributed_slam_module
MarineRoboticsGroup/rtabmap
RTAB-Map library and standalone application
MarineRoboticsGroup/rtabmap_ros
RTAB-Map's ROS package.
MarineRoboticsGroup/SE-Sync
An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.
MarineRoboticsGroup/vicon_bridge
This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.
MarineRoboticsGroup/voxgraph
Voxblox-based Pose graph optimization