3D Trajectory Planner in Unknown Environments

😎 A curated list of papers, tools, and libraries for traversability analysis and terrain classification in robotic navigation

Code repository for “FASTC: A Fast Attentional Framework for Semantic Traversability Classification Using Point Cloud“

Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

Inverse RL algorithms (APP, MaxEnt, GAIL, VAIL)

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping

Codes for RoadBEV: road surface reconstruction in Bird's Eye View

This is the code base for GANav: Group-wise Attention Network for Classifying Navigable Regions in Unstructured Outdoor Environments.

OpenMMLab Semantic Segmentation Toolbox and Benchmark.

Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.

[RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory

O-CNN: Octree-based Convolutional Neural Networks for 3D Shape Analysis

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

Range sensor-based 2.5D gridded height mapping (Digital Elevation Model) for urban terrain navigation of mobile robots

Visualize streams of multimodal data. Fast, easy to use, and simple to integrate. Built in Rust using egui.

The dataset for the paper: Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach

Grounded SAM: Marrying Grounding DINO with Segment Anything & Stable Diffusion & Recognize Anything - Automatically Detect , Segment and Generate Anything

ROS package for geometric-semantic segmentation of RGB-D sequences.

Real-Time Probabilistic Dense Monocular SLAM Using Compact Code Representation

ROS driver implementation of ISR M-series mobile robots, used in Intelligent Systems & Robotics Lab (ISR).

Interactive installation scripts for setup the basic ROS dev environments in Ubuntu 20.04

The local planner used in the paper, ODS-Bot: Mobile robot navigation for outdoor delivery services (IEEE Access, 2022)

The global planner used in the paper, ODS-Bot: Mobile robot navigation for outdoor delivery services (IEEE Access, 2022)

Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach (RA-L, 2024)

A simple RViz simulation package providing 2D laser scan and occupancy map. For testing navigation planning algorithms

Point cloud registration pipeline for robot localization and 3D perception

Modern C++ Programming Course (C++03/11/14/17/20/23/26)

A ROS2-based framework for TurtleBot3 DRL autonomous navigation

Collection of papers, datasets, code and other resources for object tracking and detection using deep learning