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Urban Robotics Lab. @ KAIST

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  1. patchwork-plusplus patchwork-plusplus Public

    Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

    C++ 1.1k 161

  2. patchwork-plusplus-ros patchwork-plusplus-ros Public

    ROS & ROS2 Implementation of Patchwork++

    C++ 450 85

  3. dynaVINS dynaVINS Public

    DynaVINS : A Visual-Inertial SLAM for Dynamic Environments

    C++ 446 61

  4. Quatro Quatro Public

    Fast and robust global registration for terrestrial robots @ ICRA2022

    C++ 407 57

  5. TRAVEL TRAVEL Public

    [RA-L] Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

    C++ 340 39

  6. UV-SLAM UV-SLAM Public

    UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping

    C++ 301 47

Repositories

Showing 10 of 25 repositories
  • se3-lio Public

    SE(3)-LIO: Smooth IMU Propagation With Jointly Distributed Poses on SE(3) Manifold for Accurate and Robust LiDAR-Inertial Odometry (ICRA 2026)

    url-kaist/se3-lio's past year of commit activity
    C++ 139 GPL-2.0 10 0 1 Updated Sep 5, 2026
  • multi-mapcher Public

    Multi-Mapcher: Loop closure detection-free heterogeneous LiDAR multi-session SLAM leveraging outlier-robust registration for autonomous vehicles (T-IV)

    url-kaist/multi-mapcher's past year of commit activity
    C++ 142 GPL-3.0 16 0 0 Updated Aug 9, 2026
  • kaistviodataset Public

    "Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.

    url-kaist/kaistviodataset's past year of commit activity
    Shell 109 GPL-3.0 9 2 0 Updated Jun 17, 2026
  • patchwork-plusplus Public

    Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

    url-kaist/patchwork-plusplus's past year of commit activity
    C++ 1,057 BSD-2-Clause 161 1 (1 issue needs help) 0 Updated May 23, 2026
  • ERASOR2 Public

    [RSS'23] The official Implementation of "ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes"

    url-kaist/ERASOR2's past year of commit activity
    C++ 203 GPL-3.0 10 0 0 Updated May 22, 2026
  • MambaGlue Public

    MambaGlue: Fast and Robust Local Feature Matching With Mamba @ ICRA'25

    url-kaist/MambaGlue's past year of commit activity
    Python 279 Apache-2.0 24 3 0 Updated May 21, 2026
  • patchwork-plusplus-ros Public

    ROS & ROS2 Implementation of Patchwork++

    url-kaist/patchwork-plusplus-ros's past year of commit activity
    C++ 450 GPL-3.0 85 3 2 Updated May 21, 2026
  • TRAVEL Public

    [RA-L] Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

    url-kaist/TRAVEL's past year of commit activity
    C++ 340 GPL-3.0 39 6 1 Updated May 19, 2026
  • Quatro Public

    Fast and robust global registration for terrestrial robots @ ICRA2022

    url-kaist/Quatro's past year of commit activity
    C++ 407 GPL-3.0 57 4 1 Updated May 10, 2026
  • HeLiMOS-PointCloud-Toolbox Public

    HeLiMOS: Heterogeneous LiDAR Dataset for Moving Object Segmentation @ IROS'2024

    url-kaist/HeLiMOS-PointCloud-Toolbox's past year of commit activity
    C++ 86 7 1 0 Updated May 9, 2026
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