Oxford Dynamic Robot Systems Group

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1. allan_variance_ros allan_variance_ros Public

   ROS compatible tool to generate Allan Deviation plots

   C++ 687 123

2. pronto pronto Public

   Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages

   C++ 325 51

3. ScaRF-SLAM ScaRF-SLAM Public

   [RA-L 2026] ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

   Python 244 17

4. oxford_spires_dataset oxford_spires_dataset Public

   [IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF

   Python 188 8

5. plane_seg plane_seg Public

   Plane Segmentation Utilites

   C++ 186 42

6. isam isam Public archive

   iSAM is an optimization library for sparse nonlinear problems as encountered in simultaneous localization and mapping (SLAM).

   C++ 109 39