Oxford Dynamic Robot Systems Group

Oxford Robotics Institute, University of Oxford

Oxford, UK

Pinned Repositories

allan_variance_ros
ROS compatible tool to generate Allan Deviation plots
Language:C++588 17 34102
director
An intuitive user interface for operating field mobile robots
Language:Python33 28 05
isam
iSAM is an optimization library for sparse nonlinear problems as encountered in simultaneous localization and mapping (SLAM).
Language:C++105 10 339
kalibr
The Kalibr visual-inertial calibration toolbox
Language:C++89 2 041
oxford_spires_dataset
[IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
Language:Python128 4 73
plane_seg
Plane Segmentation Utilites
Language:C++177 17 442
pronto
Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages
Language:C++269 24 847
pronto-distro
Pronto is now built in ROS and developed at https://github.com/ori-drs/pronto_core
Language:C++84 40 1372
pronto_anymal_example
Example binary running the Pronto state estimator on the ANYmal B robot
Language:C++30 13 1310
silvr
[T-RO 2025] Scalable Lidar-Visual NeRF
Language:Python414

Oxford Dynamic Robot Systems Group's Repositories

ori-drs/allan_variance_ros
ROS compatible tool to generate Allan Deviation plots
Language:C++588 17 34102
ori-drs/pronto
Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages
Language:C++269 24 847
ori-drs/oxford_spires_dataset
[IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
Language:Python128 4 73
ori-drs/silvr
[T-RO 2025] Scalable Lidar-Visual NeRF
Language:Python414
ori-drs/field_local_planner
Local planners for ground robots
Language:C++176
ori-drs/slam_tutorial
ORIentate tutorial: SLAM and factor graphs
Language:Jupyter Notebook12 3 05
ori-drs/hesai_description
URDF Model of hesai lidar products
Language:Python9 9 03
ori-drs/frontier_description
URDF of the Frontier Handheld Device
Language:CMake7 12 01
ori-drs/ImMesh_hesai
Language:C++41
ori-drs/grid_map_filters_drs
Custom grid map filters for DRS use
Language:C++22
ori-drs/digiforest_drs
Language:Python1 6 21
ori-drs/FAST_LIO_SLAM
LiDAR SLAM = FAST-LIO + Scan Context
Language:C++1
ori-drs/gnss_comm_msgs
ROS message definitions for GNSS data recorded with the ZED-F9P driver https://github.com/ori-drs/ublox_driver
Language:CMake1 7 01
ori-drs/HBA
[RAL 2023] A globally consistent LiDAR map optimization module
Language:C++1
ori-drs/realsense-ros-docker
Docker container for Intel Realsense camera in ROS.
Language:Dockerfile1
ori-drs/teleoperation_vr
Language:C#1
ori-drs/FAST-LIVO2
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Language:C++
ori-drs/HesaiLidar_ROS_2.0
ori-drs/IsaacLab
Unified framework for robot learning built on NVIDIA Isaac Sim
ori-drs/lidar_undistortion
Language:C++1
ori-drs/magnet_description
Description of the Magnet mapping device
Language:Python
ori-drs/magnet_design
Design instructions for the ORI Magnet Lidar Mapping device
ori-drs/open_vins
DRS fork: An open source platform for visual-inertial navigation research.
Language:C++0 01
ori-drs/raw_image_pipeline
Image processing pipeline for cameras that provide raw data
Language:C++1
ori-drs/safe-interactive-crowdnav
Code base for SICNav T-RO paper and SICNav-Diffusion RA-L paper
ori-drs/SC-LIO-SAM
LiDAR-inertial SLAM: Scan Context + LIO-SAM
Language:C++0 0
ori-drs/slam_debug
Language:C++3 0
ori-drs/unitree_ros
Language:C++2 01
ori-drs/z1_controller
Package for controlling the Unitree Z1 arm
Language:C++
ori-drs/z1_sdk
SDK tools for controlling z1 robot
Language:C++