A lean C++ library for working with point cloud data

3DMatch - a 3D ConvNet-based local geometric descriptor for aligning 3D meshes and point clouds.

Algorithms and Publications on 3D Object Tracking

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

C++/Python Sparse Volumetric TSDF Fusion

Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

Intrinsic3D - High-Quality 3D Reconstruction by Joint Appearance and Geometry Optimization with Spatially-Varying Lighting (ICCV 2017)

MIT-Princeton Vision Toolbox for the Amazon Picking Challenge 2016 - RGB-D ConvNet-based object segmentation and 6D object pose estimation.

[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

RGBD plane detection and color-based plane refinement

MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assumption. Universal approach, working independently for RGB-D and LiDAR.

[ICRA2014] Fast Plane Extraction Using Agglomerative Hierarchical Clustering (AHC)

Photometric SLAM and Bundle Adjustment for RGB-D and LiDAR in CUDA.

StaticFusion

Code accompanying our ECCV-2020 paper on 3D Neural Listeners.

Lightweight Dense Visual Odometry - a header-only C++ library for real-time dense RGB-D odometry.

Azure Kinect multi-camera extrinsic calibration

A set of tools for mobile robot navigation with the depth sensor

ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion