Repositories list

• SG-Reg

  Public
  [T-RO 2025] SG-Reg: Generalizable and Efficient Scene Graph Registration

  multi-agentslamsemantic-scene-understanding+ 13d-representation-learning

  Python

  •5•105•2•0•Updated Jul 20, 2025Jul 20, 2025

• FM-Fusion

  Public
  [RA-L] FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models

  C++

  •7•121•1•0•Updated Jul 20, 2025Jul 20, 2025

• PredRecon

  Public
  [ICRA'23] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction

  motion-planningaerial-imageryaerial-robotics+ 1aerial-reconstruction

  C++

  •

  GNU General Public License v3.0

  •14•188•6•0•Updated Jul 14, 2025Jul 14, 2025

• FC-Planner

  Public
  [ICRA'24 Best UAV Paper Award Finalist] An Efficient Global Planner for Aerial Coverage

  motion-planningaerial-imageryaerial-robotics+ 1aerial-coverage

  C++

  •

  GNU General Public License v3.0

  •23•293•7•1•Updated Jul 13, 2025Jul 13, 2025

• FINT

  Public
  [T-RO 2025] Autonomous Flights Inside Narrow Tunnels

  C++

  •1•32•1•0•Updated Jun 30, 2025Jun 30, 2025

• G3Reg

  Public
  A fast and robust global registration library for outdoor LiDAR point clouds.

  registration

  C++

  •

  MIT License

  •23•283•7•0•Updated May 29, 2025May 29, 2025

• VINS-Multi

  Public
  A robust optimization-based asynchronous Multi-camera-IMU state estimator [ICRA 2024, Workshop on Future of Construction, Best Research Award]

  C++

  •

  GNU General Public License v3.0

  •4•53•0•0•Updated May 20, 2025May 20, 2025

• SLIM

  Public
  C++

  •9•178•1•0•Updated May 19, 2025May 19, 2025

• FALCON

  Public
  [T-RO 2024] FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance.

  C++

  •11•205•10•0•Updated May 16, 2025May 16, 2025

• SLABIM

  Public
  An open-sourced SLAM dataset that couples with BIM (Building Information Modeling).

  Python

  •

  GNU General Public License v3.0

  •8•175•6•0•Updated Mar 26, 2025Mar 26, 2025

• LiDAR2BIM-Registration

  Public
  C++

  •

  GNU General Public License v3.0

  •4•59•2•0•Updated Mar 23, 2025Mar 23, 2025

• ESVO

  Public
  This repository maintains the implementation of "Event-based Stereo Visual Odometry".

  C++

  •93•472•9•1•Updated Mar 20, 2025Mar 20, 2025

• RIO

  Public
  Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System

  C++

  •

  MIT License

  •14•161•2•0•Updated Mar 13, 2025Mar 13, 2025

• OmniNxt

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

  aerial-roboticsperception-system

  GNU General Public License v3.0

  •29•440•13•0•Updated Mar 9, 2025Mar 9, 2025

• EMSGC

  Public
  This repository maintains the implementation of the paper "Event-based Motion Segmentation withSpatio-Temporal Graph Cuts".

  C++

  •

  GNU General Public License v3.0

  •8•66•2•0•Updated Jan 28, 2025Jan 28, 2025

• GS-LIVO

  Public
  8•270•2•0•Updated Jan 17, 2025Jan 17, 2025

• D2SLAM

  Public
  $D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm

  Jupyter Notebook

  •54•386•38•2•Updated Dec 13, 2024Dec 13, 2024

• FUEL

  Public
  An Efficient Framework for Fast UAV Exploration

  uavmotion-planningautonomous-robots+ 2aerial-roboticsautonomous-navigation

  C++

  •

  GNU General Public License v3.0

  •235•1.2k•61•1•Updated Nov 19, 2024Nov 19, 2024

• MIND

  Public
  MIND: Multi-modal Integrated PredictioN and Decision-making with Adaptive Interaction Modality Explorations

  Python

  •

  GNU General Public License v3.0

  •32•144•1•0•Updated Oct 30, 2024Oct 30, 2024

• Fast-Planner

  Public
  A Robust and Efficient Trajectory Planner for Quadrotors

  uavmotion-planningaerial-robotics+ 1autonomous-navigation

  C++

  •

  GNU General Public License v3.0

  •718•2.9k•73•9•Updated Oct 24, 2024Oct 24, 2024

• VINS-Mono

  Public
  A Robust and Versatile Monocular Visual-Inertial State Estimator

  state-estimationviovins

  C++

  •

  GNU General Public License v3.0

  •2.2k•5.5k•282•6•Updated Aug 14, 2024Aug 14, 2024

• Nxt-FC

  Public
  Mini PX4 for UAV Group

  Shell

  •

  GNU General Public License v3.0

  •59•284•16•1•Updated Aug 13, 2024Aug 13, 2024

• IMPACTOR

  Public
  Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads

  C

  •11•107•1•1•Updated Jul 15, 2024Jul 15, 2024

• UniQuad

  Public
  [ICRA@40] UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

  12•114•0•0•Updated Jul 8, 2024Jul 8, 2024

• APACE

  Public
  APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)

  motion-planningaerial-roboticsautonomous-navigation+ 1perception-aware

  C++

  •

  GNU General Public License v3.0

  •1•52•0•0•Updated Jun 28, 2024Jun 28, 2024

• SIMPL

  Public
  SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving

  Python

  •

  MIT License

  •37•264•25•0•Updated Jun 18, 2024Jun 18, 2024

• VINS-Fusion

  Public
  An optimization-based multi-sensor state estimator

  C++

  •

  GNU General Public License v3.0

  •1.5k•4.1k•192•14•Updated May 23, 2024May 23, 2024

• ublox_driver

  Public
  A driver for u-blox receiver (ZED-F9P) with ros support

  ubloxrosgnss+ 2rtkgnss-receiver

  C++

  •

  GNU General Public License v3.0

  •56•135•2•0•Updated May 14, 2024May 14, 2024

• MonoLaneMapping

  Public
  Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)

  Python

  •

  MIT License

  •55•414•3•0•Updated May 10, 2024May 10, 2024

• MASSTAR

  Public
  A Multi-modal Large-scale Scene Dataset and A Versatile Toolchain for Scene Prediction

  3d-scene-understandingscene-prediction

  GNU General Public License v3.0

  •0•14•0•0•Updated Apr 6, 2024Apr 6, 2024