ethz-asl

The Kalibr visual-inertial calibration toolbox

A Modular and Multi-Modal Mapping Framework

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

RotorS is a UAV gazebo simulator

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

A map representation based on 3D segments

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)

Modular framework for online informative path planning.

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

Coverage planning in general polygons with holes.

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

Real-time detection of diverse dynamic objects in complex environments.

MAV planning tools using voxblox as the map representation.

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

Voxblox-based Pose graph optimization

Python tools to perform time-synchronization and hand-eye calibration.

🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)

A volumetric object-level semantic mapping framework.

Control strategies for rotary wing Micro Aerial Vehicles using ROS

A real-time capable exploration and inspection path planner (next best view planning)

🦫 BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps (RSS 2026)

time delay single and multi sensor fusion framework based on an EKF

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.

Real-time 6 DOF grasp detection in clutter.

OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)

An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation

3D mapping tools for robotic applications

Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses,...

This package provides an end-to-end system to laser-based graph SLAM using laser point clouds.

Modified version of Parallel Tracking and Mapping (PTAM)

Efficient local and global exploration on submap collections with changing past pose estimates.

Voxblox-based submapping

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

Implementation for safe low altitude navigation in steep terrain for fixed-wing Aerial Vehicles

A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.

Deep image retrieval for efficient 6-DoF localization

Integrates an IMU to predict future odometry readings

ROS interface for ORBSLAM2!!

Geolocalization for grid map using GDAL.

Interface of DJI autopilot based on its OSDK (3.2)

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

Graph-based, sparse radar-inertial odometry estimation

SL Sensor: An open-source, real-time and ROS-based structured light sensor for high accuracy construction robotic applications

A collection of segmentation methods working on depth images

This repository contains style-guides, discussions, eclipse/emacs auto-formatter for commonly used programming languages

Data Driven Dynamics Modeling for Aerial Vehicles

A robust pointcloud registration pipeline based on correlation.

Real-time Neural Representation Fusion for Robust Volumetric Mapping

ASL Structural Inspection Planner

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning

Closed-loop next-best view planning for grasp detection in clutter.

Driver for xsens IMUs

Stand-alone waypoint navigator

This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and...

Reinforcement Learning framework for MAVs using the OpenAI Gym environment

RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance

Simulation interface to Unreal Engine 4 based on the AirSim plugin.

Instructions for ETH center for robotics summer school 2019.

3D Variable Scene Graphs for long-term semantic scene change prediction.

A minimal library for transformations, following the kindr interface. Uses active quaternions of rotation in Hamilton notation.

Create ground truth voxblox maps from Gazebo worlds or .ply files

General launch files, parameters and wiki entries on our systems and related issues

algorithms for synchronizing clocks

ROS1 wrappers for GPU-acceleration volumetric mapping with nvblox.

System monitoring tools for ROS.

ROS drivers for the Piksi RTK GPS module

Open framework for reading analog gauges, deployable on real world robotic systems

Unreal CV ROS Perception Simulator

Loader for the generic ASL dataset formats.

A library of curves for estimation.

Automatically syncs a camera to a rigidly attached IMUs time frame

🌷 TULIP: Transformer for Upsampling of LiDAR Point Clouds (CVPR 2024)

Programming tools for robotics.

Reactive obstacle avoidance using raytracing or lidars

Driver library for Seek Thermal imaging devices

Programming Exercises Accompanying the Lecture "Artificial Intelligence for Robotics"

Templates and overview information for student projects at ASL

Python tool for analyzing and evaluating trajectory data

Repository for implementation of Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes

Terrain monitoring planner

matplotlib-cpp with Eigen interfaces.

Implementation for safe low altitude navigation in steep terrain for fixed-wing Aerial Vehicles

Line Clustering and Description for Place Recognition

Generates randomized Poisson forests to use for UAV collision avoidance evaluations.

This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.

Learning informed sampling distributions and information gains for efficient exploration planning.

Multi-resolution path planning

A GTSAM based state estimation framework.