Fan Yang

far_planner. Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

airOMPL_planner. OMPL-based Route Planner for Aerial Navigation

Real_Time_Stair_Detector. A light-weighted stair detection algorithm using 2D correlation analysis on real-time LiDAR scans

sru-project-website. Spatially-Enhanced Recurrent Units for Long-Range Mapless Navigation

motion_planning. Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

terminal-setup. One-script terminal setup for Ubuntu and macOS — Zsh, Starship, eza, bat, fzf, delta, broot, and Nerd Fonts

greedy_exploration_planner. A light-weighted local greedy exploration planner based on line-of-sight visibility in LiDAR point clouds.

Fast-Planner. A Robust and Efficient Trajectory Planner for Quadrotors

autonomous_exploration_development_environment. Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.

sfm-3d-vision. A differentiable Structure from Motion (SfM) pipeline, implemented in PyTorch, Kornia and Pypose, showcasing efficient feature extraction, matching, triangulation processes, and effective optimization of reprojection error, aimed to advance computer vision research.

tree_detection. This package implements a simple tree detector from point cloud data. It makes no assumptions about the ground plane and can handle arbitrary terrains.

recurrent-ppo-truncated-bptt. Baseline implementation of recurrent PPO using truncated BPTT

NeRF-LOAM. [ICCV2023] NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping

graph_decoder_ws. This package handles graphs stored or published by other sources in support of multi-robots graph sharing and merging of FAR Planner.

vdb_mapping. Performantes 3D Kartierungs-Framework auf Basis von OpenVDB

iplanner_path_follow. C++

zed-ros2-wrapper. ROS 2 wrapper for the ZED SDK

gbplanner_ros. Graph-based Exploration Planner for Subterranean Environments