This is the homepage of a new book entitled "Mathematical Foundations of Reinforcement Learning."

[CVPR 2022] "MonoScene: Monocular 3D Semantic Scene Completion": 3D Semantic Occupancy Prediction from a single image

[IROS'24 Oral] A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception

ONNX-compatible LightGlue: Local Feature Matching at Light Speed. Supports TensorRT, OpenVINO

Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

Implementation of XFeat (CVPR 2024). Do you need robust and fast local feature extraction? You are in the right place!

Code for "DELTAR: Depth Estimation from a Light-weight ToF Sensor And RGB Image", ECCV 2022

Universal Monocular Metric Depth Estimation

SuperPoint and SuperGlue with TensorRT. Deploy with C++.

Visual localization made easy with hloc

An optimization-based multi-sensor state estimator

The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use th…

Open Source Computer Vision Library

[ECCV 2024] "BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splatting". ⚡Train a scene from real-world blurry images in minutes!

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

Official code for BEVDepth.

[RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping

[RSS 2024] Experiments for "iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping"

Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms

A tutorial for getting started with the Deep Learning Accelerator (DLA) on NVIDIA Jetson

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

Recent multi-robot projects and papers: Including SLAM, place recognition, Large Language Models navigation. (continually updated)

Tools to create pixel-wise object masks, bounding box labels (2D and 3D) and 3D object model (PLY triangle mesh) for object sequences filmed with an RGB-D camera. This project prepares training and…

[CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

Real-time dense visual SLAM system

Code for "Rapid Pose Label Generation through Sparse Representation of Unknown Objects"

with yolov3

ROS wrapper for Singleshotpose

🚀 A simple way to launch, train, and use PyTorch models on almost any device and distributed configuration, automatic mixed precision (including fp8), and easy-to-configure FSDP and DeepSpeed support