Robot Perception & Navigation Group (RPNG)

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

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sqrtVINS sqrtVINS Public

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

C++ 388 50
open_vins open_vins Public

An open source platform for visual-inertial navigation research.

C++ 3k 913
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++ 754 126
R-VIO2 R-VIO2 Public

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

C++ 292 34
cpi cpi Public

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

C++ 255 63
online_lang_splatting online_lang_splatting Public

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

Python 65 6

Repositories

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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, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

rpng/MINS's past year of commit activity

C++ 754 GPL-3.0 126 12 0 Updated Jul 31, 2026
unitree_lerobot Public Forked from unitreerobotics/unitree_lerobot
The unitree_il_lerobot open-source project is a modification of the LeRobot open-source training framework, enabling the training and testing of data collected using the dual-arm dexterous hands of Unitree's G1 robot.

rpng/unitree_lerobot's past year of commit activity

Python 0 132 0 0 Updated Apr 30, 2026
online_lang_splatting Public
[ICCV 2025] Official Implementation of "Online Language Splatting"

rpng/online_lang_splatting's past year of commit activity

Python 65 6 1 0 Updated Jan 6, 2026
open_vins Public
An open source platform for visual-inertial navigation research.

rpng/open_vins's past year of commit activity

C++ 3,049 GPL-3.0 913 62 (3 issues need help) 12 Updated Nov 30, 2025
sqrtVINS Public
Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking

rpng/sqrtVINS's past year of commit activity

C++ 388 LGPL-3.0 50 5 0 Updated Oct 30, 2025
rpng.github.io Public

rpng/rpng.github.io's past year of commit activity

0 0 0 0 Updated Jul 31, 2025
ioo_diffusion Public

rpng/ioo_diffusion's past year of commit activity

Python 7 2 0 0 Updated May 17, 2025
R-VIO2 Public
Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

rpng/R-VIO2's past year of commit activity

C++ 292 GPL-3.0 34 7 0 Updated Sep 19, 2024
vicon2gt Public
Vicon-IMU fusion for groundtruth trajectory generation.

rpng/vicon2gt's past year of commit activity

C++ 124 GPL-3.0 26 1 0 Updated Sep 14, 2024
ov_plane Public
A monocular plane-aided visual-inertial odometry

rpng/ov_plane's past year of commit activity

C++ 237 GPL-3.0 32 3 1 Updated May 20, 2024