[IROS 2025] A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics

Official implementation of the CVPR 2022 Paper "Neural RGB-D Surface Reconstruction"

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.

RGBD-3DGS-SLAM is a monocular SLAM system leveraging 3D Gaussian Splatting (3DGS) for accurate point cloud and visual odometry estimation. By integrating neural networks, it estimates depth and camera intrinsics from RGB images alone, with optional support for additional camera information and depth maps.