MIT-SPARK

A fast and robust point cloud registration library

Index repo for Kimera code

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

A system for building 3D Scene Graphs from sensor data in real-time

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Real-Time 3D Semantic Reconstruction from 2D data

Robust Pose Graph Optimization

Spatio-Temporal Metric-Semantic SLAM

Describe Anything, Anywhere, at Any Moment (DAAAM), a novel approach to real-time, large-scale, spatio-temporal memory

ROS wrapper for Kimera-VIO

Index repo for Kimera-Multi system

FAST-LIO2 on ROS2 with various functionalities for LIO mapping

[ICCV 2025, Highlight] BUFFER-X: Zero-Shot Point Cloud Registration

Monte Carlo Localization using Neural Radiance Fields

A large-scale multi-robot dataset for multi-robot SLAM

Graduated Non-Convexity (GNC) and Adaptive Trimming (ADAPT) algorithms for outlier robust estimation

Labs for MIT 16.485

Certifiable Outlier-Robust Geometric Perception

Primal-Dual Mesh Convolutional Neural Networks

Hands-on Tutorial for Global Optimization in Matlab

Hydra ROS Interface

Minimal C++ library for spatial data structures based on voxel-block-hashing

[CVPR 2025] CRISP: Object Pose and Shape Estimation with Test-Time Adaptation

Scene Graph API (C++ and Python)

Solver for Large-Scale Rank-One Semidefinite Relaxations

ROS interface to closed and open-set semantic segmentation models

Automatic C++ config structs and tools.