HKUST Aerial Robotics Group

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74 repositories

VINS-Multi
Public
A robust optimization-based asynchronous Multi-camera-IMU state estimator [ICRA 2024, Workshop on Future of Construction, Best Research Award]
C++
•
GNU General Public License v3.0
•11•94•3•0•Updated Nov 20, 2025Nov 20, 2025
GS-LIVO
Public
C++
•22•337•3•0•Updated Oct 31, 2025Oct 31, 2025
FM-Fusion
Public
[RA-L] FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models
C++
•7•144•0•0•Updated Sep 28, 2025Sep 28, 2025
SG-Reg
Public
[T-RO 2025] SG-Reg: Generalizable and Efficient Scene Graph Registration
multi-agent slam semantic-scene-understanding 3d-representation-learning
Python
•5•132•2•0•Updated Jul 20, 2025Jul 20, 2025
PredRecon
Public
[ICRA'23] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction
motion-planning aerial-imagery aerial-robotics aerial-reconstruction
C++
•
GNU General Public License v3.0
•16•207•6•0•Updated Jul 14, 2025Jul 14, 2025
FC-Planner
Public
[ICRA'24 Best UAV Paper Award Finalist] An Efficient Global Planner for Aerial Coverage
motion-planning aerial-imagery aerial-robotics aerial-coverage
C++
•
GNU General Public License v3.0
•23•326•7•0•Updated Jul 13, 2025Jul 13, 2025
FINT
Public
[T-RO 2025] Autonomous Flights Inside Narrow Tunnels
C++
•3•63•1•0•Updated Jun 30, 2025Jun 30, 2025
G3Reg
Public
A fast and robust global registration library for outdoor LiDAR point clouds.
registration
C++
•
MIT License
•27•313•2•0•Updated May 29, 2025May 29, 2025
SLIM
Public
C++
•15•206•1•0•Updated May 19, 2025May 19, 2025
FALCON
Public
[T-RO 2024] FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance.
C++
•15•254•15•0•Updated May 16, 2025May 16, 2025
SLABIM
Public
An open-sourced SLAM dataset that couples with BIM (Building Information Modeling).
Python
•
GNU General Public License v3.0
•11•196•7•0•Updated Mar 26, 2025Mar 26, 2025
LiDAR2BIM-Registration
Public
Global Registration between LiDAR Point Cloud and Building Information Model
C++
•
GNU General Public License v3.0
•5•66•2•0•Updated Mar 23, 2025Mar 23, 2025
ESVO
Public
This repository maintains the implementation of "Event-based Stereo Visual Odometry".
C++
•92•487•9•1•Updated Mar 20, 2025Mar 20, 2025
RIO
Public
Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System
C++
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MIT License
•17•179•3•0•Updated Mar 13, 2025Mar 13, 2025
OmniNxt
Public
[IROS'24 Oral] A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception
aerial-robotics perception-system
GNU General Public License v3.0
•31•493•15•0•Updated Mar 9, 2025Mar 9, 2025
EMSGC
Public
This repository maintains the implementation of the paper "Event-based Motion Segmentation withSpatio-Temporal Graph Cuts".
C++
•
GNU General Public License v3.0
•8•71•2•0•Updated Jan 28, 2025Jan 28, 2025
D2SLAM
Public
$D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
Jupyter Notebook
•62•410•42•2•Updated Dec 13, 2024Dec 13, 2024
FUEL
Public
An Efficient Framework for Fast UAV Exploration
uav motion-planning autonomous-robots aerial-robotics autonomous-navigation
C++
•
GNU General Public License v3.0
•238•1.3k•63•1•Updated Nov 19, 2024Nov 19, 2024
MIND
Public
MIND: Multi-modal Integrated PredictioN and Decision-making with Adaptive Interaction Modality Explorations
Python
•
GNU General Public License v3.0
•32•153•1•0•Updated Oct 30, 2024Oct 30, 2024
Fast-Planner
Public
A Robust and Efficient Trajectory Planner for Quadrotors
uav motion-planning aerial-robotics autonomous-navigation
C++
•
GNU General Public License v3.0
•742•3.1k•74•10•Updated Oct 24, 2024Oct 24, 2024
VINS-Mono
Public
A Robust and Versatile Monocular Visual-Inertial State Estimator
state-estimation vio vins
C++
•
GNU General Public License v3.0
•2.2k•5.7k•284•6•Updated Aug 14, 2024Aug 14, 2024
Nxt-FC
Public
Mini PX4 for UAV Group
Shell
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GNU General Public License v3.0
•72•345•16•1•Updated Aug 13, 2024Aug 13, 2024
IMPACTOR
Public
Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads
C
•11•118•1•1•Updated Jul 15, 2024Jul 15, 2024
UniQuad
Public
[ICRA@40] UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application
15•138•0•0•Updated Jul 8, 2024Jul 8, 2024
APACE
Public
APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)
motion-planning aerial-robotics autonomous-navigation perception-aware
C++
•
GNU General Public License v3.0
•1•55•0•0•Updated Jun 28, 2024Jun 28, 2024
SIMPL
Public
SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving
Python
•
MIT License
•42•293•25•0•Updated Jun 18, 2024Jun 18, 2024
VINS-Fusion
Public
An optimization-based multi-sensor state estimator
C++
•
GNU General Public License v3.0
•1.5k•4.3k•197•14•Updated May 23, 2024May 23, 2024
ublox_driver
Public
A driver for u-blox receiver (ZED-F9P) with ros support
ublox ros gnss rtk gnss-receiver
C++
•
GNU General Public License v3.0
•56•147•3•0•Updated May 14, 2024May 14, 2024
MonoLaneMapping
Public
Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)
Python
•
MIT License
•58•429•3•0•Updated May 10, 2024May 10, 2024
MASSTAR
Public
A Multi-modal Large-scale Scene Dataset and A Versatile Toolchain for Scene Prediction
3d-scene-understanding scene-prediction
GNU General Public License v3.0
•0•13•0•0•Updated Apr 6, 2024Apr 6, 2024