HKUST-Aerial-Robotics

A Robust and Versatile Monocular Visual-Inertial State Estimator

An optimization-based multi-sensor state estimator

A Robust and Efficient Trajectory Planner for Quadrotors

Advanced implementation of LOAM

An Efficient Framework for Fast UAV Exploration

Monocular Visual-Inertial State Estimator on Mobile Phones

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Code for 'Stereo R-CNN based 3D Object Detection for Autonomous Driving' (CVPR 2019)

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"

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

Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018

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

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

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

Mini PX4 for UAV Group

Gradient-Based Online Safe Trajectory Generator

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

This is a monocular dense mapping system corresponding to IROS 2018 "Quadtree-accelerated Real-time Monocular Dense Mapping"

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

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

This repository provides PyTorch implementation for 3DV 2018 paper "MVDepthNet: real-time multiview depth estimation neural network"

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

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.

A dataset containing synchronized visual, inertial and GNSS raw measurements.

a simple map generator based on ROS

Implementation of the paper "Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor".

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

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

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

Repo for HKUST ELEC5660 Course Notes & Lab Tutorial & Project Docker

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

Implementation of the paper "Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching".

Basic definitions and utility functions for GNSS raw measurement processing

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

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

Trajectory Prediction with Graph-based Dual-scale Context Fusion

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

Trajectory generation on point clouds

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

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)

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

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

This is the project page of the paper "Flow-Motion and Depth Network for Monocular Stereo and Beyond''

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation.

Fisheye version of VINS-Fusion

a place recognition system for VINS-fusion

A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

LiDAR-based 3D global registration benchmark.

[T-RO 2025] Autonomous Flights Inside Narrow Tunnels

Optimal Time Allocation for Quadrotor Trajectory Generation

A Plug-in Robust Multi-camera Calibration Toolbox

Global Registration between LiDAR Point Cloud and Building Information Model

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

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

This is the code base for paper ``Geometric Pretraining for Monocular Depth Estimation``, the paper is currently under review. The preprint will be available when it is ready.