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@rpng

Robot Perception & Navigation Group (RPNG)

Research on optimal sensing, estimation, localization, mapping, perception, navigation, and manipulation for robotics and XR

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  1. sqrtVINS sqrtVINS Public

    Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking

    C++ 129 9

  2. open_vins open_vins Public

    An open source platform for visual-inertial navigation research.

    C++ 2.6k 758

  3. MINS MINS Public

    An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…

    C++ 606 95

  4. R-VIO2 R-VIO2 Public

    Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

    C++ 277 32

  5. cpi cpi Public

    Closed-form Preintegration for Graph-based Visual-Inertial Navigation

    C++ 251 62

  6. online_lang_splatting online_lang_splatting Public

    [ICCV 2025] Official Implementation of "Online Language Splatting"

    Python 36 1

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