occupancy-grid

Real-time 3D LiDAR obstacle detection, tracking & trajectory prediction for ROS 1 / ROS 2: ground segmentation, clustering, 2.5D occupancy, optional GPU CenterPoint (TensorRT). ~10 ms/scan on one CPU core.

Modern C++ frontier exploration package for autonomous mobile robots, with a core C++ library for custom integrations alongside ROS 2 Jazzy & Humble, Nav2 support.

Real-time path-planning from 3D reconstruction and depth estimation: an algorithm for calibrated stereo cameras.

Privacy-aware environmental digital twin for ambient/RF sensing in Rust — a typed, provenance-tracked graph of rooms, sensors, people & beliefs, geospatially grounded with predictive occupancy (OccWorld). ADR-139.

ROS 2 Jazzy frontier exploration package implementing map optimization and MRTSP-based frontier ordering from Liu et al. (2025)

Using pre-trained DL models and Transformations for generating occupancy maps. Includes some other basic deep learning tasks. Feel free to contribute.

The Nav2 Costmap Filter Editor is a browser-based, zero-backend application designed to simplify the creation of costmap filter masks for ROS 2 (Robot Operating System). It allows users to visually draw restrictions—such as keepout zones, speed limits, and virtual walls—directly onto an existing ROS 2 occupancy map.

AAIML 2024: 3D Semantic Occupancy from Dense Prediction Transformers trained under memory constraints

This Python project demonstrates Occupancy Grid Mapping in robotics and autonomous navigation using real-world data from the Orebro dataset. It processes odometry and laser sensor readings to create an occupancy grid map. With Matplotlib visualizations, it simulates robot navigation and mapping in a 2D environment.

A web-based occupancy grid editor for robotics. Create, edit, and export occupancy maps with support for ROS, CSV, JSON, and PNG formats. Features include start/goal placement, relative coordinate systems, and grid generation tools.

Reeds–Shepp marching for one-to-all path planning on 2D occupancy grids, with continuous orientation optimization and an interactive GUI.

Semantic Occupancy 3D Plotter. This is the plotter made by the SOccDPT project to create fancy 3D visuals. You can use this for your own AV or Robotics visualization!

From-scratch 2D autonomous navigation stack in modern C++ — A* global planning, a collision-free DWA local planner, frontier-based exploration of unknown mazes, and a browser visualizer. Zero dependencies.

3-DoF pose from a single 2D LiDAR scan with no initial guess — ROS 2 global localization by FFT correlation of oriented (wall-normal) fields in image space

2D autonomous rover navigation simulator in Python. Implements Optimistic A* with online replanning and frontier-based exploration on an incrementally built occupancy map from simulated LIDAR scans.

Real-time evidential occupancy grid mapping using Dempster–Shafer theory, ROS, and AVX2-accelerated sensor fusion.

Robotics course projects using Python and Webots for control, mapping, localization, and navigation.

Qt map editor for ROS / ROS 2 compatible PGM + YAML occupancy maps

EKF-SLAM with landmark association and occupancy grid mapping for a simulated differential drive robot.

Nexys Video FPGA sensor-fusion HUD integrating Pcam 5C camera input, sonar acquisition, CDC-safe telemetry snapshots, HDMI compositing, OLED telemetry, and debug outputs.