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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++ 395 51

  2. open_vins open_vins Public

    An open source platform for visual-inertial navigation research.

    C++ 3.1k 934

  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++ 779 126

  4. R-VIO2 R-VIO2 Public

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

    C++ 292 34

  5. cpi cpi Public

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

    C++ 255 63

  6. online_lang_splatting online_lang_splatting Public

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

    Python 66 6

Repositories

Showing 10 of 79 repositories
  • 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++ 779 GPL-3.0 126 12 1 Updated Sep 21, 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 1 139 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 66 6 1 0 Updated Jan 7, 2026
  • open_vins Public

    An open source platform for visual-inertial navigation research.

    rpng/open_vins's past year of commit activity
    C++ 3,111 GPL-3.0 934 63 (3 issues need help) 13 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++ 395 LGPL-3.0 51 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++ 239 GPL-3.0 33 3 1 Updated May 20, 2024
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