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Robot Perception Lab

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  1. risam risam Public

    [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023

    C++ 151 12

  2. imesa imesa Public

    [RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping

    C++ 112 7

  3. CMU-GPR-Dataset CMU-GPR-Dataset Public

    Dataset and utilities for research on localizing ground penetrating radar (GPR).

    Python 109 22

  4. form form Public

    FORM LiDAR Odometry

    C++ 94 4

  5. bevloc bevloc Public

    [IROS 2024] BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis

    Python 73 6

  6. fact-rs fact-rs Public

    Factor graphs in rust

    Rust 69 8

Repositories

Showing 10 of 23 repositories
  • form Public

    FORM LiDAR Odometry

    rpl-cmu/form’s past year of commit activity
    C++ 94 MIT 4 0 0 Updated Feb 14, 2026
  • gelslam Public
    rpl-cmu/gelslam’s past year of commit activity
    Python 0 0 0 0 Updated Feb 14, 2026
  • rpl-cmu/normalflow_experiment’s past year of commit activity
    Python 3 MIT 2 0 0 Updated Feb 14, 2026
  • normalflow Public
    rpl-cmu/normalflow’s past year of commit activity
    Python 41 MIT 4 0 0 Updated Feb 14, 2026
  • fact-rs Public

    Factor graphs in rust

    rpl-cmu/fact-rs’s past year of commit activity
    Rust 69 Apache-2.0 8 2 2 Updated Feb 13, 2026
  • learned-depth-imaging-radar Public

    Code for IROS 2022 Paper Learned Depth Estimation of 3d imaging radar for indoor mapping

    rpl-cmu/learned-depth-imaging-radar’s past year of commit activity
    Python 1 MIT 0 0 0 Updated Dec 11, 2025
  • lidar-evaluations Public

    Evaluations of common LiDAR techniques

    rpl-cmu/lidar-evaluations’s past year of commit activity
    Python 19 2 0 0 Updated Jul 21, 2025
  • imesa-experiments Public

    [RSS 2024] Experiments for "iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping"

    rpl-cmu/imesa-experiments’s past year of commit activity
    Python 9 MIT 2 0 0 Updated Mar 24, 2025
  • rose Public

    Robust Offroad wheel odometry with Slip Estimation

    rpl-cmu/rose’s past year of commit activity
    Python 30 MIT 3 0 0 Updated Dec 13, 2024
  • bevloc Public

    [IROS 2024] BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis

    rpl-cmu/bevloc’s past year of commit activity
    Python 73 MIT 6 4 0 Updated Oct 18, 2024

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