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@MarineRoboticsGroup MIT's Marine Robotics Group

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    60 repositories

    • multi-spurdog-tests

      Public
      Python
      •0•0•0•0•Updated Mar 31, 2026Mar 31, 2026

    • cora

      Public
      The official implementation of the "Certifiably Correct Range-Aided SLAM" algorithm. Implemented in performant C++
      cplusplusslamuwb
      cplusplusslamuwbcertifiable-perception
      C++
      •5•54•1•0•Updated Mar 12, 2026Mar 12, 2026

    • dcsam

      Public
      Factored inference for discrete-continuous smoothing and mapping.
      localizationcppmapping
      localizationcppmappingoptimizationgraphical-modelsbayesian-inferenceslamgtsamfactor-graphhybrid-models
      C++
      •
      MIT License
      •20•156•2•1•Updated Mar 4, 2026Mar 4, 2026

    • dcsam-examples

      Public
      Tutorial examples and sample applications for DC-SAM.
      C++
      •4•20•0•0•Updated Mar 4, 2026Mar 4, 2026

    • multi-spurdog

      Public
      JPs repo for the multi-auv experiments that are going to rock the world
      Python
      •0•2•0•0•Updated Feb 12, 2026Feb 12, 2026

    • spurdog_moos_bridge

      Public
      A package for communicating between Spurdog AUV core bottle (MOOS) and a ROS1-based payload bottle
      C++
      •0•0•0•0•Updated Nov 20, 2025Nov 20, 2025

    • manhattan-world-sim

      Public
      Python
      •
      MIT License
      •1•1•0•1•Updated Oct 2, 2025Oct 2, 2025

    • gtsam-range-aided-slam

      Public
      A GTSAM-based solver for range-aided SLAM problems
      Python
      •0•1•0•0•Updated Oct 2, 2025Oct 2, 2025

    • cora-matlab

      Public
      Official MATLAB implementation of "Certifiably Correct Range-Aided SLAM"
      MATLAB
      •0•16•0•0•Updated Oct 2, 2025Oct 2, 2025

    • PyFactorGraph

      Public
      A python factor graph object for SLAM problems
      Python
      •6•17•0•0•Updated Sep 4, 2025Sep 4, 2025

    • awesome-object-SLAM

      Public
      A curated list of Object SLAM papers and resources
      25•4•0•0•Updated Feb 24, 2025Feb 24, 2025

    • 3DGS-CD

      Public
      3DGS-based change detection for physical object rearrangement
      Python
      •
      Apache License 2.0
      •7•1•0•0•Updated Feb 22, 2025Feb 22, 2025

    • cora-experiments

      Public
      Experiments from "Certifiably Correct Range-Aided SLAM"
      Python
      •0•3•3•0•Updated Jan 12, 2025Jan 12, 2025

    • tonioviz

      Public
      Finally, a nice C++ visualization tool.
      C++
      •0•5•4•0•Updated Jan 12, 2025Jan 12, 2025

    • opti-acoustic-semantics

      Public
      Code for running optical image segmentation synced with sonar data for object ranging
      Python
      •
      MIT License
      •1•1•0•0•Updated Nov 26, 2024Nov 26, 2024

    • mac

      Public
      Maximizing algebraic connectivity for graph sparsification
      slamgraph-slampose-graph-optimization
      slamgraph-slampose-graph-optimizationgraph-sparsificationspectral-graph-theoryalgebraic-connectivity
      Python
      •
      MIT License
      •9•68•1•0•Updated Nov 8, 2024Nov 8, 2024

    • hayden_image_detector

      Public
      Python
      •0•0•0•0•Updated Aug 16, 2024Aug 16, 2024

    • HoloOceanUtils

      Public
      Utilities for HoloOcean, mostly for data collection.
      Python
      •2•7•0•0•Updated Jun 18, 2024Jun 18, 2024

    • sonar_oculus

      Public
      Code for interfacing with Oculus m750d and m1200d sonars
      C++
      •1•6•1•0•Updated May 24, 2024May 24, 2024

    • score

      Public
      Official implementation of "SCORE: Second Order Conic Initialization for RA-SLAM"
      Python
      •4•32•0•0•Updated Jan 11, 2024Jan 11, 2024

    • summer-research-write-up

      Public
      Abigail and Calvin's write-up of summer research.
      0•0•0•0•Updated Aug 25, 2023Aug 25, 2023

    • easy_handeye

      Public
      Automated, hardware-independent Hand-Eye Calibration
      Python
      •
      Other
      •242•0•0•0•Updated Aug 24, 2023Aug 24, 2023

    • apriltag_ros

      Public
      this fork aims at adding extra synthetic tag detections around a true detection.
      C++
      •
      Other
      •360•0•0•0•Updated Aug 23, 2023Aug 23, 2023

    • vins-application

      Public
      VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including deskto…
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •97•0•0•0•Updated Dec 29, 2022Dec 29, 2022

    • NF-iSAM

      Public
      The codebase of normalizing flows for incremental soomthing and mapping (NF-iSAM). The datasets used for performance evaluation are provided as well.
      Python
      •
      MIT License
      •7•28•2•0•Updated Oct 19, 2022Oct 19, 2022

    • slam-super-6d

      Public
      SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation
      Python
      •
      MIT License
      •6•0•0•0•Updated Sep 29, 2022Sep 29, 2022

    • nsfg

      Public
      Python
      •
      MIT License
      •0•7•0•0•Updated Sep 21, 2022Sep 21, 2022

    • dcsam2022tr

      Public
      Technical report on Discrete-Continuous Smoothing and Mapping
      0•1•0•0•Updated Apr 27, 2022Apr 27, 2022

    • m-explore

      Public
      ROS packages for multi robot exploration
      C++
      •
      Other
      •221•0•0•0•Updated Apr 13, 2022Apr 13, 2022

    • sparse2022tr

      Public
      Supplement to Spectral Measurement Sparsification for Pose-Graph SLAM, submitted to IROS 2022
      0•2•0•0•Updated Mar 7, 2022Mar 7, 2022
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