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@rpng

Robot Perception & Navigation Group (RPNG)

Research on optimal sensing, estimation, localization, mapping, perception, and planning for robotics and XR

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  1. open_vins Public

    An open source platform for visual-inertial navigation research.

    C++ 2.4k 689

  2. MINS Public

    An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…

    C++ 534 83

  3. R-VIO2 Public

    Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

    C++ 260 31

  4. cpi Public

    Closed-form Preintegration for Graph-based Visual-Inertial Navigation

    C++ 251 62

  5. vicon2gt Public

    Vicon-IMU fusion for groundtruth trajectory generation.

    C++ 101 18

  6. online_lang_splatting Public

    Implementation of Online Language Splatting

    Python 9

Repositories

Showing 10 of 75 repositories
  • online_lang_splatting Public

    Implementation of Online Language Splatting

    Python 9 0 0 0 Updated Apr 17, 2025
  • open_vins Public

    An open source platform for visual-inertial navigation research.

    C++ 2,351 GPL-3.0 689 53 (3 issues need help) 3 Updated Jan 6, 2025
  • MINS Public

    An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

    C++ 534 GPL-3.0 83 10 2 Updated Oct 8, 2024
  • R-VIO2 Public

    Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

    C++ 260 GPL-3.0 31 7 0 Updated Sep 19, 2024
  • vicon2gt Public

    Vicon-IMU fusion for groundtruth trajectory generation.

    C++ 101 GPL-3.0 18 1 0 Updated Sep 14, 2024
  • ov_plane Public

    A monocular plane-aided visual-inertial odometry

    C++ 215 GPL-3.0 29 3 1 Updated May 20, 2024
  • reach_ros_node Public

    ROS driver for the Reach RTK GNSS module by Emlid

    Python 40 34 10 4 Updated May 2, 2024
  • gaussian_splatting Public Forked from graphdeco-inria/gaussian-splatting

    The beginnings of Gaussian Splats into VINS family

    Python 3 2,273 0 0 Updated Dec 4, 2023
  • gaussian-splatting-cuda Public Forked from MrNeRF/gaussian-splatting-cuda

    3D Gaussian Splatting into VINS family

    C 1 81 0 0 Updated Oct 6, 2023
  • ov_maplab Public

    Interface for OpenVINS with the maplab project

    C++ 87 GPL-3.0 17 0 0 Updated Aug 26, 2023
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