pose-graph-optimization

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pypose /pypose

Star1.5k

A library for differentiable robotics on manifolds.

python learning control deep-learning robotics optimization physics computer-graphics pytorch planning lie-group slam kalman-filter pose-estimation pose-graph-optimization geometric-deep-learning autonomous-robots

UpdatedOct 28, 2025
Python

wenbowen123 /BundleTrack

Star665

[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

tracking computer-vision robotics manipulation 3d 3d-reconstruction 3d-graphics pose-estimation 6dof vision-tracking pose-graph-optimization 6d 6dof-tracking 6dof-pose pose-tracking 6d-pose-estimation 6d-object-tracking 6d-pose-tracking

UpdatedOct 13, 2023
C++

david-m-rosen /SE-Sync

Star422

An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.

global-optimization slam graph-slam semidefinite-programming pose-graph-optimization se-sync pose-synchronization riemannian-optimization pose-graph-slam certifiable-robustness certifiable-estimation certifiable-perception

UpdatedAug 15, 2024
Jupyter Notebook

JokerJohn /PALoc

Star347

[TMECH'2024] Official codes of ”PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation“

localization uncertainty-estimation uncertainty-propagation gtsam prior-map pose-graph-optimization groundtruth slam-benchmarcking slam-dataset lidar-localization 3d-localization lidar-degeneracy zero-velocity

UpdatedSep 13, 2025
C++

JokerJohn /MS-Mapping

Star301

[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

mapping keyframe lidar uncertainty-estimation uncertainty-propagation gtsam pose-graph-optimization multi-session wasserstein-distance lidar-slam lidar-mapping large-scale-mapping lifelong-mapping

UpdatedAug 21, 2025
C++

gisbi-kim /nano-pgo

Star292

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

codegen slam rotation jacobian gtsam gauss-newton pgo initialization pose-graph-optimization cholmod chordal-distance symforce

UpdatedNov 6, 2024
Python

MISTLab /DOOR-SLAM

Star246

Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

distributed-systems computer-vision localization robotics mapping robust-optimization slam distributed-algorithms multi-robot pose-graph-optimization robust-estimation

UpdatedMar 14, 2023
Dockerfile

mit-acl /dpgo

Star202

Distributed Pose Graph Optimization

robotics optimization slam pose-graph-optimization multi-robot-systems

UpdatedJun 17, 2024
C++

PHANTOM0122 /3D_Object_Reconstruction

Star112

3D object reconstruction with multi-view RGB-D images.

python point-cloud opencv-python 3d-reconstruction pose-graph-optimization 3d-object-reconstruction open3d-python multiview-geometry

UpdatedFeb 7, 2023
Python

cggos /mekd

Star106

Maths, Estimation, Kinematics and Dynamics

optimization kinematics maths state-estimation bundle-adjustment factor-graph pose-graph-optimization

UpdatedAug 6, 2025
Jupyter Notebook

TurtleZhong /PoseGraph-Ceres

Star79

An offline tool for pose-graph-optimization.

slam pnp ceres-solver pose-graph-optimization

UpdatedMar 13, 2018
C++

520xyxyzq /slam-super-6d

Star75

SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation

semi-supervised-learning self-training slam pose-graph-optimization object-pose-estimation object-slam

UpdatedJul 11, 2024
Python

MarineRoboticsGroup /mac

Star65

Maximizing algebraic connectivity for graph sparsification

slam graph-slam pose-graph-optimization graph-sparsification spectral-graph-theory algebraic-connectivity

UpdatedNov 8, 2024
Python

mit-acl /dpgo_ros

Star62

ROS wrapper for distributed pose graph optimization

robotics optimization ros slam pose-graph-optimization multi-robot-systems

UpdatedJul 17, 2024
C++

mpkuse /toy-pose-graph-optimization-ceres

Star61

toy SLAM pose graph optimization using manhattan dataset and ceres-solver

ceres-solver pose-graph-optimization

UpdatedApr 19, 2018
C++

gabmoreira /maks

Star57

Motion Averaging

computer-vision robotics optimization registration slam rotation 3d-reconstruction pose pgo pose-graph-optimization

UpdatedJul 18, 2022
MATLAB

kevin-robb /live_ekf_slam

Star44

Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM

simulation astar ros slam ukf ekf pose-estimation ekf-slam gtsam pose-graph-optimization ukf-localization pose-graph-slam pure-pursuit ukf-slam

UpdatedSep 4, 2023
Python

ZhekaiJin /the-Cooper-Mapper

Star43

An open source autonomous driving research platform for Active SLAM & Multisensor Data Fusion

control motion-planning ros perception slam sensor-fusion odometry lidar-camera-calibration pose-graph-optimization

UpdatedSep 3, 2019
C++

sakshamjindal /Monocular-MiniSLAM

Star36

Real-Time Monocular Visual SLAM with Pose-graph optimization

structure-from-motion kitti-dataset visual-odometry epipolar-geometry pose-graph-optimization

UpdatedJan 31, 2021
Python

TurtleZhong /Projects-Summary

Star28

本人完成的项目汇总

reconstruction slam lidar-camera-calibration pose-graph-optimization msckf-mono indoor-mobile-robots

UpdatedAug 30, 2018

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