[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

[ICCV 2023] SurroundOcc: Multi-camera 3D Occupancy Prediction for Autonomous Driving

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

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

web-based visualization libraries

🙃 A delightful community-driven (with 2,300+ contributors) framework for managing your zsh configuration. Includes 300+ optional plugins (rails, git, macOS, hub, docker, homebrew, node, php, python…

🇫🇷 Oh my tmux! My self-contained, pretty & versatile tmux configuration made with ❤️

The ultimate vim distribution

Personal webpage

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813

A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813

an improvement of fast_gicp

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

Code repository for Semantic Terrain Classification for Off-Road Autonomous Driving (https://openreview.net/forum?id=AL4FPs84YdQ) (CoRL 2021)

Code repository for Semantic Terrain Classification for Off-Road Autonomous Driving (https://openreview.net/forum?id=AL4FPs84YdQ) (CoRL 2021)

Terrain model generator for Gazebo

Autonomous Navigation and Collision Avoidance for Ground Robots

A Multi-sensor Fusion Odometry via Smoothing and Mapping.

Semantically segment the road in the given image.

Python code to extract depth and rgb data from rosbag

Progressive LiDAR Adaptation for Road Detection

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

A list of papers and datasets about point cloud analysis (processing)

A curated list of awesome Point Cloud Processing Resources, Libraries, Software

Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

A ROS package that implements a multi-robot RRT-based map exploration algorithm. It also has the image-based frontier detection that uses image processing to extract frontier points.

SLAM algorithm for range-based measurements using spline surfaces

Dual-Stage Viewpoint Planner for Autonomous Exploration