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@ori-drs Oxford Dynamic Robot Systems Group

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    185 repositories

    • ScaRF-SLAM

      Public
      [RA-L 2026] ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
      Python
      •
      GNU General Public License v3.0
      •16•232•1•0•Updated Aug 25, 2026Aug 25, 2026

    • FAST-LIVO2

      Public
      FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
      C++
      •
      GNU General Public License v2.0
      •844•0•0•0•Updated Aug 2, 2026Aug 2, 2026

    • ov_secondary_scarf

      Public
      C++
      •
      GNU General Public License v3.0
      •1•2•0•0•Updated Jul 12, 2026Jul 12, 2026

    • pronto

      Public
      Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages
      roboticsrosslam
      roboticsrosslam
      C++
      •
      GNU Lesser General Public License v2.1
      •51•322•9•0•Updated Jun 20, 2026Jun 20, 2026

    • oxford_spires_dataset

      Public
      [IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
      roboticsslamnerf
      roboticsslamnerf3d-reconstructionradiance-fieldgaussian-splatting3dgs
      Python
      •
      Other
      •7•181•4•33•Updated Jun 19, 2026Jun 19, 2026

    • ov_secondary

      Public
      Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.
      C++
      •
      GNU General Public License v3.0
      •27•0•0•0•Updated May 29, 2026May 29, 2026

    • raw_image_pipeline

      Public
      Image processing pipeline for cameras that provide raw data
      C++
      •
      MIT License
      •11•0•0•0•Updated May 6, 2026May 6, 2026

    • open_vins

      Public
      DRS fork: An open source platform for visual-inertial navigation research.
      C++
      •
      GNU General Public License v3.0
      •917•0•0•1•Updated Apr 29, 2026Apr 29, 2026

    • sapling_nerf

      Public
      This project contains a complete pipeline for segmenting the skeleton and leaf regions in point clouds of young trees.
      Python
      •0•1•0•0•Updated Mar 31, 2026Mar 31, 2026

    • magnet_v2_description

      Public
      Description of the Magnet V2 mapping device
      Python
      •0•0•0•0•Updated Mar 19, 2026Mar 19, 2026

    • aerial_terrestrial_registration

      Public
      Package which registers aerial and terrestrial lidar point clouds while internally deforming the terrestrial cloud
      Python
      •
      GNU General Public License v3.0
      •1•11•1•0•Updated Mar 4, 2026Mar 4, 2026

    • aria_ros

      Public
      ROS Driver for Meta's Aria glasses
      Python
      •0•2•0•0•Updated Feb 28, 2026Feb 28, 2026

    • planar_mesh

      Public
      C++
      •
      GNU General Public License v3.0
      •4•23•1•0•Updated Jan 23, 2026Jan 23, 2026

    • ov_maplab

      Public
      Interface for OpenVINS with the maplab project
      C++
      •
      GNU General Public License v3.0
      •22•0•0•0•Updated Jan 6, 2026Jan 6, 2026

    • silvr

      Public
      [T-RO 2025] Scalable Lidar-Visual NeRF
      Python
      •
      Other
      •7•91•1•0•Updated Dec 10, 2025Dec 10, 2025

    • rosbag_blur_face_tool

      Public
      Python
      •0•1•2•1•Updated Dec 2, 2025Dec 2, 2025

    • realtime_trees

      Public
      Reatlime Reconstruction and Inventorization of Forests
      Python
      •2•7•0•0•Updated Nov 30, 2025Nov 30, 2025

    • magnet_design

      Public
      Design instructions for the ORI Magnet Lidar Mapping device
      Other
      •0•2•0•0•Updated Nov 13, 2025Nov 13, 2025

    • magnet_description

      Public
      Description of the Magnet mapping device
      Python
      •0•0•0•1•Updated Sep 29, 2025Sep 29, 2025

    • digiforest_drs

      Public
      Python
      •1•1•0•2•Updated Sep 10, 2025Sep 10, 2025

    • IsaacLab

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3.9k•0•0•0•Updated Aug 11, 2025Aug 11, 2025

    • lidar_undistortion

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •1•2•0•0•Updated Jul 28, 2025Jul 28, 2025

    • hesai_description

      Public
      URDF Model of hesai lidar products
      Python
      •
      Apache License 2.0
      •3•11•0•1•Updated Jul 16, 2025Jul 16, 2025

    • safe-interactive-crowdnav

      Public
      Code base for SICNav T-RO paper and SICNav-Diffusion RA-L paper
      Python
      •
      MIT License
      •16•1•0•0•Updated Jul 2, 2025Jul 2, 2025

    • SC-LIO-SAM

      Public
      LiDAR-inertial SLAM: Scan Context + LIO-SAM
      C++
      •191•0•0•0•Updated Apr 4, 2025Apr 4, 2025

    • FAST_LIO_SLAM

      Public
      LiDAR SLAM = FAST-LIO + Scan Context
      C++
      •1.7k•1•0•0•Updated Apr 4, 2025Apr 4, 2025

    • HBA

      Public
      [RAL 2023] A globally consistent LiDAR map optimization module
      C++
      •
      GNU General Public License v2.0
      •90•1•0•0•Updated Apr 4, 2025Apr 4, 2025

    • gnss_comm_msgs

      Public
      ROS message definitions for GNSS data recorded with the ZED-F9P driver https://github.com/ori-drs/ublox_driver
      CMake
      •
      GNU General Public License v3.0
      •1•0•0•1•Updated Mar 20, 2025Mar 20, 2025

    • HesaiLidar_ROS_2.0

      Public
      C++
      •152•0•0•0•Updated Mar 19, 2025Mar 19, 2025

    • grid_map_filters_drs

      Public
      Custom grid map filters for DRS use
      C++
      •
      GNU General Public License v3.0
      •3•4•0•0•Updated Mar 3, 2025Mar 3, 2025
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