Projects sharing features with Rtabmap

ORB_SLAM2 is a visual simultaneous localization and mapping system that tracks camera movement and builds 3D environments from image data. It functions as a real-time visual odometry tool and sparse 3D reconstructor, computing the position and orientation of a camera while generating a point cloud map of a physical space. The system utilizes a camera relocalization engine to identify a camera's position within a known map after tracking failure or system restarts. It incorporates a spatial tracker to enable the precise insertion and composition of virtual 3D objects into real-world planar reg

VINS-Mono is a monocular visual-inertial odometry system and loop closure SLAM framework. It functions as a real-time state estimator that fuses data from a single camera and an inertial measurement unit to determine a robot's position and orientation. The project includes a non-linear optimizer for robotics and tools for sensor calibration. The system distinguishes itself through online sensor calibration, which automatically determines spatial extrinsics and temporal offsets between the camera and inertial unit during operation. It also incorporates rolling shutter distortion correction to

Open_vins is a visual-inertial odometry framework and SLAM system designed for robotic state estimation. It uses an Extended Kalman Filter to fuse high-frequency inertial sensor data with visual feature tracks to estimate the position and orientation of a moving device. The system features a sensor calibration suite for calculating intrinsic and extrinsic parameters, as well as temporal offsets between cameras and inertial measurement units. It includes a manifold interpolator that uses B-Spline curves over the special Euclidean group to produce smooth trajectory paths between discrete pose e

This project is a robotics software package designed for simultaneous localization and mapping, providing a framework for visual-inertial odometry and environmental mapping. It functions as a middleware-integrated library that enables autonomous mobile robots to estimate their position and orientation by processing sensor data within modular software systems. The library distinguishes itself by utilizing hardware-accelerated processing to perform feature tracking and odometry calculations on dedicated graphics hardware. It maintains spatial accuracy through graph-based optimization and statis

Slambook is a visual SLAM framework designed for simultaneous localization and mapping. It provides an integrated system to estimate camera motion and reconstruct 3D environments using visual sensor data. The project includes a visual odometry engine to track camera movement and a dense 3D reconstruction tool for creating volumetric representations of scenes. It features a loop closure detection system to recognize previously visited locations and a pose graph optimizer to refine trajectories and ensure global map consistency. The framework covers spatial estimation and environment modeling

Cartographer is a cross-platform robotics library and framework for simultaneous localization and mapping in 2D and 3D spaces. It functions as a real-time mapping engine that constructs environmental maps while tracking a device's position and orientation using continuous sensor data processing. The system implements real-time SLAM to generate precise maps for autonomous navigation. It utilizes a localization system that determines a device's state within a mapped environment across different hardware platforms and sensor configurations. The framework covers spatial estimation through non-li

libfreenect is a driver implementation for integrating Kinect sensors with a computer to capture depth images, audio, and accelerometer readings across various operating systems. It provides a hardware-abstracted API to manage the connection between the sensor hardware and the host system. The project enables the capture of sensor data and the control of internal device hardware, such as motors and LED indicators. It also includes tools for recording and replaying sensor data streams to local files, allowing for offline analysis and testing without a physical device. The library handles 3D d

jetson-inference is a set of libraries and tools for executing optimized deep learning models on embedded GPU hardware. Its primary purpose is to enable real-time computer vision and AI inference at the edge with low latency and high throughput. The project distinguishes itself through high-performance streaming analytics and the ability to execute concurrent AI pipelines on auto-grade silicon. It provides specialized support for multi-sensor stream processing, utilizing zero-copy data transport to load camera frames directly into GPU memory. The codebase covers a broad surface of capabiliti

pyslam is a framework for Simultaneous Localization and Mapping that combines Python flexibility with C++ performance. It is a sparse SLAM implementation designed to map environment geometry and track device location by processing image frames into 3D points. The project features a bridge for exposing high-performance C++ classes to Python scripts using zero-copy memory sharing. This integration allows for switching between a scripting interface for rapid prototyping and a compiled core for execution speed. The system includes a spatial map optimizer to refine 3D point and camera pose estima

This project is a comprehensive research platform designed for the end-to-end lifecycle of robotic learning. It provides a modular framework for training neural network policies—specifically through imitation and reinforcement learning—and deploying them onto physical robotic hardware. By offering a unified interface for hardware abstraction, the platform decouples high-level control logic from the specific sensors and actuators of diverse robotic systems. The framework distinguishes itself through a standardized approach to data and policy management. It utilizes a consistent schema for reco

AR.js is a web-based augmented reality framework used to create immersive experiences directly in a browser using WebGL and WebRTC. It provides a cross-platform runtime that executes on mobile devices and head-mounted displays without requiring a dedicated application installation. The framework includes a marker-based engine for detecting physical patterns or barcodes to anchor digital overlays, a location-based tool for positioning entities via GPS coordinates, and a face tracking library for anchoring content to human facial features. It supports multi-marker simultaneous tracking, custom

OM1 is a multimodal AI agent runtime and orchestration framework designed to connect large language models to physical robot hardware and sensors. It provides an execution environment that processes audio, video, and sensor data to drive autonomous decisions and actions in real-world settings. The system integrates a robotics SLAM and navigation stack with a hardware abstraction layer, allowing high-level AI commands to be translated into low-level motor and actuator instructions. It distinguishes itself by incorporating blockchain-based governance to enforce immutable operational rules and p

VINS-Fusion is a multi-sensor fusion framework and visual-inertial odometry system. It integrates camera images, inertial measurement unit data, and global positioning signals through a non-linear optimization system to track the position and orientation of autonomous vehicles. The system includes a visual loop closure engine that utilizes a bag-of-words approach to recognize previously visited locations and correct trajectory drift. It further provides tools for online spatio-temporal calibration to determine the physical offset and time synchronization between cameras and inertial sensors d

Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained optimization problems. It serves as a framework for automatic differentiation and robust curve fitting, providing tools to solve large-scale mathematical models. The library is distinguished by its bundle adjustment capabilities, which exploit sparse matrix structures to refine 3D scene points and camera parameters. It utilizes dual-number automatic differentiation to compute derivatives of cost functions, removing the need for manual Jacobian derivation. The project covers a

Below is a system metrics recorder and replayer for Linux. It captures live hardware utilization, cgroup hierarchy data, and pressure stall information, saving everything into a single replayable snapshot file. This decouples collection from analysis, allowing you to inspect system state offline as if viewing it in real time. The tool continuously streams metrics to disk during recording, supporting interruption and later replay without data loss. It exports the same internal data in multiple formats—OpenMetrics for direct Prometheus and Grafana ingestion, as well as JSON and CSV for script-b

Autoware is an open-source autonomous driving software platform built on the robotics middleware standard. It provides a comprehensive stack for managing perception, planning, and control, enabling the development and deployment of full-stack autonomous driving software on commercial transport hardware. The platform utilizes a component-based modular architecture that organizes driving functions into isolated, interchangeable nodes. This design is supported by a hardware-abstraction layer and plugin-based sensor integration, which allow the software to interface with diverse hardware configur

The Intel RealSense SDK is a software development kit providing drivers and libraries for interfacing with depth cameras to capture color, depth, and infrared data streams. It includes a depth camera driver for device discovery and sensor configuration, a stereo vision library for computing depth maps and aligning frames, and a 3D point cloud generator to transform depth and infrared frames into spatial representations. The SDK distinguishes itself through on-chip depth calculation and stereo calibration, using internal vision processors to reduce host CPU load. It supports hardware-level str

Navigation2 is a ROS 2 navigation framework for autonomous mobile robots. It provides the core identity of a path planner, costmap management system, kinematic motion controller, and behavior tree orchestrator to compute collision-free routes and execute movement commands. The framework is distinguished by its use of behavior trees to coordinate modular task servers, enabling complex navigation routines and autonomous recovery actions. It supports a plugin-based architecture that allows planners and controllers to be swapped at runtime to adapt to different environments. The system covers a

Assimp is a cross-platform 3D asset pipeline and import library that loads numerous industry-standard 3D file formats into a single unified internal data structure. It functions as a framework for converting 3D models between different file formats across multiple operating systems and architectures. The project provides a 3D mesh processing tool for normalizing and optimizing geometry through triangulation, vertex removal, and normal generation. It also includes a 3D asset export utility to write internal scene data back into various external file formats. The system covers broad capability

Mayhem-Firmware is a custom firmware for the PortaPack add-on that transforms a HackRF software-defined radio into a standalone handheld device capable of receiving, transmitting, and analyzing radio signals across a wide frequency range. The firmware provides a complete operational environment with an event-driven touchscreen interface, a menu-driven application launcher, and a real-time sample streaming pipeline that connects the hardware abstraction layer to a suite of modular applications. All user data, including frequency presets, captures, and configuration files, are stored on a remova

CherryTree is a hierarchical note-taking application and rich text document editor designed for organizing information within a nested tree of nodes. It functions as a code-integrated documentation tool and an encrypted knowledge base, utilizing SQLite or XML for local data storage. The project distinguishes itself by integrating developer-centric capabilities, such as syntax highlighting and the ability to execute code blocks directly via an external terminal. It also provides password-protected encryption to secure stored data and prevent unauthorized access to the information tree. The so

koanf is a configuration management library for Go designed to load, merge, and unmarshal application settings from multiple sources into structured objects. It functions as a multi-source config loader that aggregates data from environment variables, files, and remote providers into a single unified map. The system utilizes a pluggable architecture for parsing and data abstraction, allowing it to transform bytes from formats such as JSON, YAML, and TOML into nested maps. It supports dynamic configuration watching to monitor external sources and trigger automatic reloads when settings change.

Kornia is a differentiable computer vision library and cross-framework tensor vision toolset. It implements vision operations as differentiable tensors to enable integration into deep learning pipelines and supports the transpilation of operations across PyTorch, TensorFlow, JAX, and NumPy. The project provides specialized toolsets for geometric vision and stereo depth, including algorithms for 3D scene reconstruction, camera calibration, and pose estimation. It further distinguishes itself as a differentiable image augmentation framework, applying random geometric and color transformations w

AidLearning-Framework is an integrated development platform for building and deploying AI applications on ARM-based devices. It combines Android and Linux operating systems running simultaneously on a single device, providing a unified runtime environment for cross-system AI development. The platform includes hardware acceleration across CPU, GPU, and NPU, with a unified API that automatically selects the optimal compute backend for inference. The framework distinguishes itself by enabling Python-based AI projects to be packaged directly into Android APK files for installation on mobile devic

OpenSCAD is a script-based 3D modeler and parametric CAD tool that generates three-dimensional solid objects from programmable scripts. It utilizes a constructive solid geometry engine to create complex shapes by performing boolean operations on basic geometric primitives. The system functions as a compiler that transforms a functional language into geometric representations, allowing for precise dimensional control through variables and functions. It features a WebAssembly implementation that enables the geometry pipeline to execute directly within web browsers. The software covers a broad

Serial Studio is a desktop application for connecting to, decoding, visualizing, and recording data from hardware devices over multiple communication protocols. It functions as an embedded device debugging toolkit that ingests live data from Serial, Bluetooth, CAN, Modbus, MQTT, and network sockets into a unified dashboard, while also serving as a programmatic automation platform with over 320 commands exposed over TCP, gRPC, and MCP for external control. The application distinguishes itself through a scriptable frame pipeline that routes incoming bytes through configurable detection, decodin