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@rpl-cmu Robot Perception Lab

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    19 repositories

    • fact.rs

      Public
      Factor graphs in rust
      rustroboticsestimation
      Rust
      •
      Apache License 2.0
      •1•19•0•0•Updated Jan 15, 2025Jan 15, 2025

    • rose

      Public
      Robust Offroad wheel odometry with Slip Estimation
      Python
      •
      MIT License
      •1•13•0•0•Updated Dec 13, 2024Dec 13, 2024

    • normalflow

      Public
      Python
      •
      MIT License
      •0•17•0•0•Updated Dec 5, 2024Dec 5, 2024

    • normalflow_experiment

      Public
      Python
      •
      MIT License
      •0•1•0•0•Updated Nov 27, 2024Nov 27, 2024

    • bevloc

      Public
      [IROS 2024] BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis
      Python
      •
      MIT License
      •3•51•2•0•Updated Oct 18, 2024Oct 18, 2024

    • YCB-Slide

      Public
      Tactile perception dataset, comprising of the DIGIT sliding over YCB objects with ground-truth pose.
      roboticsslamtactile-perceptiondataset
      Python
      •
      MIT License
      •2•16•1•0•Updated Sep 27, 2024Sep 27, 2024

    • imesa

      Public
      [RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping
      C++
      •
      MIT License
      •6•91•0•0•Updated Aug 16, 2024Aug 16, 2024

    • mesa

      Public
      [ICRA 2024] MESA is a fully distributed, asynchronous, and general purpose optimization algorithm for Consensus Simultaneous Localization and Mapping (CSLAM).
      C++
      •
      MIT License
      •1•32•0•0•Updated Aug 13, 2024Aug 13, 2024

    • imesa-experiments

      Public
      [RSS 2024] Experiments for "iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping"
      Python
      •
      MIT License
      •3•8•0•0•Updated Jul 30, 2024Jul 30, 2024

    • bevrender

      Public
      BEVRender: Vision-based Cross-view Vehicle Registration in Off-road GNSS-denied Environment
      Python
      •
      MIT License
      •0•1•1•0•Updated Jul 23, 2024Jul 23, 2024

    • sonic

      Public
      Python
      •
      MIT License
      •2•11•0•0•Updated May 15, 2024May 15, 2024

    • risam

      Public
      [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023
      C++
      •
      MIT License
      •10•137•0•0•Updated Aug 16, 2023Aug 16, 2023

    • neusis

      Public
      Release code for Neural Implicit Surface Reconstruction using Imaging Sonar (ICRA 2023)
      Python
      •
      MIT License
      •14•42•4•0•Updated Jul 7, 2023Jul 7, 2023

    • CMU-GPR-Dataset

      Public
      Dataset and utilities for research on localizing ground penetrating radar (GPR).
      Python
      •
      Creative Commons Attribution Share Alike 4.0 International
      •17•80•1•0•Updated Feb 27, 2023Feb 27, 2023

    • incopt

      Public
      Release code for InCOpt: Incremental Constrained Optimization using the Bayes Tree (IROS 2022)
      C++
      •
      BSD 2-Clause "Simplified" License
      •1•15•0•0•Updated Feb 10, 2023Feb 10, 2023

    • underwater-acoustic-pseudoranging

      Public
      Code and Hardware Schematics for Underwater Acoustic Pseudoranging, presented at IROS 2022
      Python
      •2•5•0•0•Updated Oct 24, 2022Oct 24, 2022

    • leo

      Public
      Python
      •
      MIT License
      •3•31•0•0•Updated Nov 8, 2021Nov 8, 2021

    • shape-map-3D

      Public
      Visuo-tactile shape mapping with GelSight and depth camera
      roboticsslamtactile-sensor
      MATLAB
      •
      Other
      •2•18•1•0•Updated Oct 26, 2021Oct 26, 2021

    • object-slam

      Public
      Compositional and Scalable Object SLAM (ICRA 2021)
      C++
      •
      MIT License
      •7•58•0•0•Updated Mar 24, 2021Mar 24, 2021