Pinned Repositories
allan_variance_ros
ROS compatible tool to generate Allan Deviation plots
director
An intuitive user interface for operating field mobile robots
isam
iSAM is an optimization library for sparse nonlinear problems as encountered in simultaneous localization and mapping (SLAM).
kalibr
The Kalibr visual-inertial calibration toolbox
oxford_spires_dataset
[IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
plane_seg
Plane Segmentation Utilites
pronto
Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages
pronto-distro
Pronto is now built in ROS and developed at https://github.com/ori-drs/pronto_core
pronto_anymal_example
Example binary running the Pronto state estimator on the ANYmal B robot
silvr
[T-RO 2025] Scalable Lidar-Visual NeRF
Oxford Dynamic Robot Systems Group's Repositories
ori-drs/plane_seg
Plane Segmentation Utilites
ori-drs/recast_ros
ori-drs/gaitmesh
ori-drs/trajectory_prediction_ros
ori-drs/TLIO
DRS fork of TLIO: Tight Learned Inertial Odometry (Public)
ori-drs/common_utils_drs
Basic utilities (such as mathematical routines) commonly used in the DRS lab
ori-drs/gpu_voxels_ros
ori-drs/imu_tools
ROS tools for IMU devices
ori-drs/signal_scope
A live plotting tool for ROS message fields.
ori-drs/cdt_challenge_2021
CDT Challenge 2021: Autonomous exploration with wheeled robots
ori-drs/gnss_comm_msgs
ROS message definitions for GNSS data recorded with the ZED-F9P driver https://github.com/ori-drs/ublox_driver
ori-drs/gpu-voxels
GPU-Voxels is a CUDA based library which allows high resolution volumetric collision detection between animated 3D models and live pointclouds from 3D sensors of all kinds.
ori-drs/hsr_driveby_full
4th year project on Toyota HSR pick-and-place motion planning
ori-drs/pixloc
Back to the Feature: Learning Robust Camera Localization from Pixels to Pose (CVPR 2021)
ori-drs/sdf_mp_integration
ori-drs/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.
ori-drs/alphasense_core_manual
Manual for the Alphasense Core Development Kit.
ori-drs/anymal-rbprm
ori-drs/cv_utils
cv_utils
ori-drs/elevation_mapping
Robot-centric elevation mapping for rough terrain navigation
ori-drs/gpmp2
Gaussian Process Motion Planner 2
ori-drs/locomotion-viewer
An Eigen tool to visualize in Rviz locomotion-related geometric objects
ori-drs/master-board
Hardware and Firmware of the Solo Quadruped Master Board
ori-drs/octomap
An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
ori-drs/ouster_example
Ouster sample code
ori-drs/realsense
Intel(R) RealSense(TM) ROS Wrapper for D400 series and SR300 Camera
ori-drs/robot_self_filter
ori-drs/ROS-MSCL
All of MicroStrain's current G and C series products are compatable with our ROS-MSCL drivers. To learn more visit
ori-drs/solo-rbprm
File database for solo robot using the hpp-rbprm framework
ori-drs/whole_body_state_msgs
ROS messages to describe a whole-body state