SfM for sphere images in the ERP format within the framework of ColMap

GLOMAP - Global Structured-from-Motion Revisited

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Unofficial implementation of ZipNeRF

Web-based 3D visualization + Python

A collaboration friendly studio for NeRFs

List all secret items using libsecret (e.g. GNOME Keyring).

Example of PX4 offboard control over microdds using python ROS 2

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

Material for gpu-mode lectures

LLM training in simple, raw C/CUDA

An open source implementation of CLIP.

Code release for ConceptFusion [RSS 2023]

[ICML 2024] 3D-VLA: A 3D Vision-Language-Action Generative World Model

Minimal, clean code for the Byte Pair Encoding (BPE) algorithm commonly used in LLM tokenization.

Training transferable end-to-end quadrotor control policies on a laptop in 18 seconds.

AI-IMU Dead-Reckoning

An EKF-Based GNSS/INS Integrated Navigation System

[ICRA2024] Maybe the simplest LiDAR-inertial odometry that one can have.

Multiplicative Extended Kalman Filter for illustrative purposes

[IROS 2024] A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency

Unscented Kalman Filtering on (Parallelizable) Manifolds (UKF-M)

Create color point clouds with ROS2

Examples in the MLX framework

EfficientSAM: Leveraged Masked Image Pretraining for Efficient Segment Anything

Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

[ICCV2023] NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping

Implementation of Continuous Pose for Monocular Cameras in Neural Implicit Representation