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Urban Robotics Lab. @ KAIST

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  1. patchwork-plusplus patchwork-plusplus Public

    Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

    C++ 754 113

  2. dynaVINS dynaVINS Public

    DynaVINS : A Visual-Inertial SLAM for Dynamic Environments

    C++ 366 51

  3. patchwork-plusplus-ros patchwork-plusplus-ros Public

    ROS & ROS2 Implementation of Patchwork++

    C++ 355 74

  4. Quatro Quatro Public

    Fast and robust global registration for terrestrial robots @ ICRA2022

    C++ 347 47

  5. TRAVEL TRAVEL Public

    Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

    C++ 283 31

  6. UV-SLAM UV-SLAM Public

    UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping

    C++ 270 44

Repositories

Showing 10 of 21 repositories
  • TRG-planner Public

    TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation (RA-L 2025)

    C++ 93 8 1 0 Updated Mar 24, 2025
  • MambaGlue Public

    MambaGlue: Fast and Robust Local Feature Matching With Mamba @ ICRA'25

    Python 153 Apache-2.0 11 1 0 Updated Mar 13, 2025
  • PIDLoc Public

    PIDLoc: Cross-View Pose Optimization Network Inspired by PID Controllers @ CVPR'25

    26 Apache-2.0 0 0 0 Updated Mar 8, 2025
  • patchwork-plusplus Public

    Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

    C++ 754 BSD-2-Clause 113 7 (1 issue needs help) 1 Updated Jan 28, 2025
  • HeLiMOS-PointCloud-Toolbox Public

    HeLiMOS: Heterogeneous LiDAR Dataset for Moving Object Segmentation @ IROS'2024

    C++ 72 6 1 0 Updated Jan 16, 2025
  • TRAVEL Public

    Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

    C++ 283 GPL-3.0 31 3 0 Updated Dec 16, 2024
  • HeLiMOS-visualizer Public

    A LiDAR visualization tool for HeLiMOS dataset

    Python 25 MIT 1 0 0 Updated Sep 4, 2024
  • patchwork-plusplus-ros Public

    ROS & ROS2 Implementation of Patchwork++

    C++ 355 GPL-3.0 74 3 2 Updated May 30, 2024
  • Quatro Public

    Fast and robust global registration for terrestrial robots @ ICRA2022

    C++ 347 GPL-3.0 47 2 1 Updated May 27, 2024
  • kaistviodataset Public

    "Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.

    Shell 82 GPL-3.0 8 1 0 Updated May 21, 2024
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