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@ivalab Intelligent Vision and Automation Laboratory (IVALab)

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    84 repositories

    • slam_toolbox

      Public
      Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
      C++
      •
      GNU Lesser General Public License v2.1
      •558•0•0•0•Updated Mar 31, 2025Mar 31, 2025

    • task_driven_slam_benchmarking

      Public
      Python
      •0•0•0•0•Updated Mar 31, 2025Mar 31, 2025

    • ORB_SLAM2

      Public
      Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
      C++
      •
      Other
      •4.7k•0•0•0•Updated Mar 31, 2025Mar 31, 2025

    • ORB_SLAM3

      Public
      ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
      C++
      •
      GNU General Public License v3.0
      •2.7k•0•0•0•Updated Mar 31, 2025Mar 31, 2025

    • CubiCasa5k

      Public
      CubiCasa5k floor plan dataset
      Jupyter Notebook
      •
      Other
      •108•0•0•0•Updated Mar 18, 2025Mar 18, 2025

    • dsol

      Public
      DSOL: Direct Sparse Odometry Lite
      C++
      •
      Apache License 2.0
      •70•0•0•0•Updated Mar 12, 2025Mar 12, 2025

    • NavBench

      Public
      Benchmark Worlds for Testing Autonomous Navigation Algorithms
      4•9•2•0•Updated Mar 5, 2025Mar 5, 2025

    • gazebo_turtlebot_simulator

      Public
      Closed-Loop SLAM Benchmarking Simulator based on Gazebo/ROS
      Python
      •1•3•0•0•Updated Feb 17, 2025Feb 17, 2025

    • gf_orb_slam2

      Public
      Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
      C++
      •
      Other
      •4.7k•256•1•0•Updated Feb 14, 2025Feb 14, 2025

    • meta_ClosedLoopBench

      Public
      Meta Package for Closed-Loop SLAM Benchmarking in Gazebo/ROS
      4•10•1•0•Updated Feb 6, 2025Feb 6, 2025

    • ORB_Data

      Public
      A collection of settings file (*.yaml) used for GF-ORB-SLAM evaluation
      Python
      •0•6•0•0•Updated Jan 25, 2025Jan 25, 2025

    • gradslam

      Public
      gradslam is an open source differentiable dense SLAM library for PyTorch
      Python
      •
      MIT License
      •160•0•0•0•Updated Nov 26, 2024Nov 26, 2024

    • stretch_ros

      Public
      ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
      Python
      •89•0•0•0•Updated Nov 12, 2024Nov 12, 2024

    • pyrobot

      Public
      PyRobot: An Open Source Robotics Research Platform
      Python
      •
      MIT License
      •351•1•0•0•Updated Nov 8, 2024Nov 8, 2024

    • tsrb_world

      Public
      CMake
      •0•0•0•0•Updated Jun 12, 2024Jun 12, 2024

    • odometry_converter

      Public
      C++
      •0•0•0•0•Updated Mar 16, 2024Mar 16, 2024

    • gazebo_utils

      Public
      Python
      •0•0•0•0•Updated Mar 16, 2024Mar 16, 2024

    • hector_slam

      Public
      hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.
      C++
      •457•0•0•0•Updated Feb 5, 2024Feb 5, 2024

    • delayed_odometry

      Public
      C++
      •0•0•0•0•Updated Jan 18, 2024Jan 18, 2024

    • cartographer_ros

      Public
      Provides ROS integration for Cartographer.
      C++
      •
      Apache License 2.0
      •1.2k•0•0•0•Updated Nov 30, 2023Nov 30, 2023

    • simData_imgSaver

      Public
      This repo contains tools to save images of simulated objects in Gazebo for affordance segmentation
      ra-licra2019affordance
      Python
      •2•7•0•2•Updated Nov 13, 2023Nov 13, 2023

    • KGN

      Public
      [ICRA 2023 & IROS 2023] Code release for Keypoint-GraspNet (KGN) and Keypoint-GraspNet-V2 (KGNv2)
      Python
      •
      MIT License
      •4•36•3•0•Updated Oct 23, 2023Oct 23, 2023

    • GraspKpNet

      Public
      Python
      •
      MIT License
      •5•40•1•1•Updated Sep 27, 2023Sep 27, 2023

    • WDiscOOD

      Public
      [ICCV2023] Official Implementation of ICCV 2023 paper, WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminant Analysis
      Python
      •1•5•0•0•Updated Aug 30, 2023Aug 30, 2023

    • ethzasl_msf

      Public
      MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)
      C++
      •
      Other
      •440•2•0•0•Updated Aug 18, 2023Aug 18, 2023

    • ivaDynamixel2.0

      Public
      ROBOTIS Dynamixel SDK (Protocol1.0/2.0)
      C#
      •
      Apache License 2.0
      •433•0•0•0•Updated May 13, 2023May 13, 2023

    • simData

      Public
      The dataset of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'
      ra-licra2019simulationdatasetgazeboaffordance-annotations3d-warehouseumd-affordance-dataset
      Python
      •6•38•2•0•Updated Apr 23, 2023Apr 23, 2023

    • mat_from_rosbag

      Public
      CMake
      •0•0•0•0•Updated Mar 2, 2023Mar 2, 2023

    • VisNav

      Public
      IVALAb Research Efforts on Vision-in-the-Loop Navigation
      CSS
      •0•0•0•13•Updated Jan 5, 2023Jan 5, 2023

    • Controls

      Public
      IVALab research efforts in controls. Mostly about adaptation and learning in controls.
      CSS
      •0•0•0•13•Updated Jan 5, 2023Jan 5, 2023