Work

A selection of open-source work across 3D computer vision, robotics, and machine learning — from visual SLAM and deep image matching to LiDAR perception and state estimation.

  • Neuracore

    Physical-AI infrastructure for robot learning — data capture, training, and deployment for embodied agents.

    Code
  • SuperSLAM

    SuperSLAM

    Open-source framework for deep-learning-based visual SLAM.

    Code
  • Deep Image Matching using Local Feature Transformer

    Deep Image Matching using Local Feature Transformer

    Pose-estimation pipeline enabling 3D reconstruction using the Local Feature Transformer (LoFTR).

    Code
  • State Estimation of a Drone by Visual-Inertial Sensor Fusion

    State Estimation of a Drone by Visual-Inertial Sensor Fusion

    Optimal state estimation using extended & unscented Kalman filters, implemented in MATLAB.

    Code
  • Fast Plane Extraction from a 3D Point Cloud

    Fast Plane Extraction from a 3D Point Cloud

    Fast, parallel implementation of the RANSAC algorithm to segment a plane in a point cloud.

    Code