This is your work, valued
Jose Luis Blanco-Claraco
EliteRobotics software developer. Lead of @MRPT since 2005 and @MOLAorg since 2019. Full Professor in sunny & windy AlmerΓa (Spain) :es: β π
nanoflann. nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees
β 2.7ksuitesparse-metis-for-windows. CMake scripts for painless usage of SuiteSparse+METIS from Visual Studio and the rest of Windows/Linux/OSX IDEs supported by CMake
β 467tutorial-se3-manifold. LaTeX sources of the technical report "A tutorial on SE(3) transformation parameterizations and on-manifold optimization"
β 199factor-graphs-course. MATLAB
β 93mechplot. Library to render structures and mechanisms (in MATLAB)
β 8utf-bom-utils. Automatically exported from code.google.com/p/utf-bom-utils
β 5git2docs. Generating docs for each Git tag & branch, made easy
β 5stvo-pl. Stereo Visual Odometry by combining point and line segment features
β 3nanogui. Minimalistic GUI library for OpenGL
β 3robotics-teaching. Jupyter notebooks for Robotics teaching at UAL
β 3librobotics-matlab. Git mirror of "librobotics" MATLAB utility toolkit by Kai Arras
β 2esp-firmware-stuff. ESP32/ESP8266 firmwares and tools
β 2aigaion2-mapir-arm. Aigaion2 publication PHP site - mods for MAPIR / ARM groups
β 2claraquino. AVR microcontroller prototyping, made better
β 2gtsam-test-rotations. C++
β 1pl-slam. This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.
β 1mrpt-web-render-examples. Code examples of Emscripten-based mrpt-opengl rendering on the web
β 1GigaMP3-player. A "vintage" (2003) summer DIY electronics project: MP3 player from a FAT HDD
β 1the-two-error-propagation-formulas-in-physics-textbooks. The code I'm using in the video
β 1mohr-2d-gui. Tool to visualize the 2D stress tensor and its Mohr's circle
β 1Object-Labeling-Toolkit. Toolkit for the labeling of objects within sequences of RGB-D observations
β 1gtsam. GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
β 1daq-ensayos-traccion. GUI para mΓ‘quina de ensayos de tracciΓ³n de la Universidad de AlmerΓa (RBPI + Arduino)
β 1mola_mapper. C++
β 1mola_input_rosbag1. MOLA DataSource for ROS1 bag files that does not need a ROS1 installation
β 6rosbag_timing_inspector. A GUI tool to visualize and analyze message timing from ROS 2 bags (`.mcap` or `.db3`)
β 82Gaussian-LIC. [ICRA 2025 & IJRR 2026] Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM (in Real Time)
β 579editor. Create and share 3D architectural projects.
β 19kmola_academic_datasets. MOLA input modules for well-known academic datasets
β 1II-NVM. [RA-L'25 & IROS'25] II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping
β 201livox_laser_simulation. A package to provide plug-in for Livox Series LiDAR.
β 335OpenMythos. A theoretical reconstruction of the Claude Mythos architecture, built from first principles using the available research literature.
β 15kUrbanVerse. Scaling Urban Simulation - Infinite Physically-Plausible Urban Simulation = IsaacSim(Physically-Accurate Assets Γ Real-World City-Tour Layouts)
β 61opendataloader-pdf. PDF Parser for AI-ready data. Automate PDF accessibility. Open-source.
β 28kacademic-writing-agents. Claude Code plugin: multi-agent orchestrator with 10 specialist agents for academic writing review, research, drafting, and polishing
β 150research-companion. Strategic research thinking agents for Claude Code β idea evaluation, project triage, and structured brainstorming. Helps you decide which papers to write, not just how to write them.
β 702mola_input_ouster. Provides a MOLA RawDataSourceBase module for Ouster LiDAR sensors using the native Ouster C++ SDK, without requiring any ROS middleware.
β 4ublox. A driver for ublox gps
β 533IconFontCppHeaders. C and C++ headers, C# and Python classes, Rust files and Go package for icon fonts Font Awesome, Fork Awesome, Google Material Design icons and symbols, Pictogrammers Material Design icons, Kenney game icons, Fontaudio, Codicons and Lucide.
β 1.5kinteractive_slam. Interactive Map Correction for 3D Graph SLAM
β 966my-thesis. Repository with the source code for my PhD thesis: Towards optimal resource management in solar thermal applications: CSP and desalination
β 5rf-detr. RF-DETR is a real-time object detection and segmentation model architecture developed by Roboflow, SOTA on COCO, designed for fine-tuning. [ICLR 2026]
β 8.8kImGuizmo. Immediate mode 3D gizmo for scene editing and other controls based on Dear Imgui
β 4kros2_yolos_cpp. ROS2 adapters for the Cross-Platform Production-ready C++ inference engine for YOLO models (v5-v12, YOLO26). Unified API for detection, segmentation, pose estimation, OBB, and classification. Built on ONNX Runtime and OpenCV. Optimized for CPU/GPU with quantization support.
β 148picoclaw. Tiny, Fast, and Deployable anywhere β automate the mundane, unleash your creativity
β 30kgps_umd. C++
β 106BotanicGarden. BotanicGarden: A high-quality dataset for robot navigation in unstructured natural environments
β 300ros2_calib. Make your calibration dreams come true. ros2_calib is a Multi-Sensor Calibration Tool using ROS2 mcap recordings with direct URDF export.
β 279crush. Glamourous agentic coding for all π
β 27krobot_safety_decision_system. Reactive safety-critical decision-making system for autonomous robots using ROS and BehaviorTree.CPP.
β 2FAST-Calib. A Handy Extrinsic Calibration Tool for LiDAR-camera Systems.
β 1kHDMapping. C++
β 414FRIULBOT_DATASET. This open-source dataset that can be used to test and develop novel SLAM algorithms and mapping techniques for autonomous mobile robots in vineyards.
β 3rtsp_image_transport. RTSP streaming for ROS image topics
β 15sqrtVINS. Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
β 383libE57Format. Library for reading & writing the E57 file format
β 190multisensor_calibration. Universal calibration toolbox for assisted, target-based multi-sensor calibration with ROS 1 and ROS 2 support.
β 134statistical_uncertainty_learning. Statistical Uncertainty Learning for Robust Visual-Inertial State Estimation
β 45HeLiPR-File-Player. This is the repository for HeLiPR file player.
β 54rosariov2. Scripts and Tools to work with The Rosario Dataset v2
β 46direct_lidar_inertial_odometry. [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
β 1kvggt. [CVPR 2025 Best Paper Award] VGGT: Visual Geometry Grounded Transformer
β 14ktabulate. Table Maker for Modern C++
β 2.2kindicators. Activity Indicators for Modern C++
β 3.4kvbr-devkit. Vision Benchmark in Rome Development Kit
β 65ca2lib. LiDAR-Camera calibration toolbox with A3/A4 size single target.
β 45mdslam. MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assumption. Universal approach, working independently for RGB-D and LiDAR.
β 161oxford_spires_dataset. [IJRR 2025] Lidar-visual dataset with ground truth 3D map for SLAM/NeRF
β 174MAC-VO. [ICRA 2025 Best Paper] MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry
β 931argparse. Argument Parser for Modern C++
β 3.5kopengv. OpenGV is a collection of computer vision methods for solving geometric vision problems. It is hosted and maintained by the Mobile Perception Lab of ShanghaiTech.
β 1.1kmvsim. Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2
β 408Traj-LO. [RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory
β 376RESPLE. The first 6-DoF spline-based recursive motion esimator for LiDAR-based odometry
β 226basalt. Mirror of the Basalt repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt
β 944backward-cpp. A beautiful stack trace pretty printer for C++
β 4.3kfilter_tf_topic_from_bag. https://github.com/ros2/rosbag2/issues/885
β 4isaac-sim-3d-lidar-odometry-mapping. Nvidia Isaac Sim with MOLA to enable advanced 3D LiDAR odometry and mapping
β 32mrpt_ros_bridge. C++ library and apps for bidirectional interface MRPT <-> ROS{1,2}
β 3usbrelay. Control usb relay - based on hidapi
β 366Cloud_Map_Evaluation. [RAL' 25 & IROSβ 25] MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework.
β 481FAST_LIO. A computationally efficient and robust LiDAR-inertial odometry (LIO) package
β 5kslam-handbook-public-release. Release repo for our SLAM Handbook
β 4.6krobot_localization. robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
β 1.9kcpr_gazebo. Additional indoor and outdoor simulation environments for Clearpath robots.
β 241QuickQanava. :link: C++17 network / graph visualization library - Qt6 / QML node editor.
β 1.4kERASOR. Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21
β 519agricobiot_husky. Python
β 1BitNet. Official inference framework for 1-bit LLMs
β 40kSplat-SLAM. Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians
β 364MS-Dataset. Large scale LiDAR-IMU dataset
β 55GeoCalib. GeoCalib: Learning Single-image Calibration with Geometric Optimization (ECCV 2024)
β 878mujoco. Multi-Joint dynamics with Contact. A general purpose physics simulator.
β 14kaws-robomaker-bookstore-world. A bookstore world with shelving and tables for AWS RoboMaker and Gazebo simulations
β 92ndt_omp. Multi-threaded and SSE friendly NDT algorithm
β 850transferable_dynamics_dataset. Datasets and code to evaluate transferability of dynamics learning methods.
β 20turtle_nest. ROS 2 Package Creator
β 207PanelLan_esp32_arduino. PanelLan esp32 arduino lib, supports PanelLan displays, SC01, SC01_PLUS(ZX3D50CE08S), SC02(ZX4D30NE01S-UR), SC05(ZX7D00CE01S), SC05_PLUS(ZX2D80CECOF), SC05_X(ZX2D80CE02S), KC01(ZX2D10GE01S), BC02(ZX3D95CE01S-TR), SC07(ZX4D30CE08S-4827)
β 26lidar_slam_ros2. ROS 2 LiDAR SLAM for pointcloud-map authoring, benchmarking, and Autoware-compatible map workflows.
β 833mcap_editor. MCAP editor (GUI)
β 85untrunc. Restore a truncated mp4/mov. Improved version of ponchio/untrunc
β 3.3kPID_Challenge. This program is an interactive game for control engineers, students, and general people interested in the subject of control systems. The tool is designed to challenge users to control different systems without knowing their characteristics beforehand.
β 2neural-chessboard. β An Extremely Efficient Chess-board Detection for Non-trivial Photos β
β 313rig_reconfigure. GUI tool for editing ROS 2 parameters at runtime
β 101IPC. IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends
β 52M2DGR. M2DGRοΌ a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)
β 1.2kwaverider. RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance
β 107mmdetection3d. OpenMMLab's next-generation platform for general 3D object detection.
β 6.5kPoint-GNN. Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud, CVPR 2020.
β 588OpenPCDet. OpenPCDet Toolbox for LiDAR-based 3D Object Detection.
β 5.7ksecond.pytorch. SECOND for KITTI/NuScenes object detection
β 1.8kCT3D. "Improving 3D Object Detection with Channel-wise Transformer", ICCV2021 accept!
β 133pointnet. PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation
β 5.4kfactor-graphs-course. MATLAB
β 93LAMP. Multi-robot SLAM system
β 378Kimera-Multi-Data. A large-scale multi-robot dataset for multi-robot SLAM
β 199kitti360Scripts. This repository contains utility scripts for the KITTI-360 dataset.
β 445llm.c. LLM training in simple, raw C/CUDA
β 31kexecutive_smach. A procedural python-based task execution framework with ROS integration.
β 185segment-anything. The repository provides code for running inference with the SegmentAnything Model (SAM), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
β 55kzstd. Zstandard - Fast real-time compression algorithm
β 27kturtlebot4_simulator. TurtleBot 4 Simulator packages
β 105cropcraft. A Procedural World Generator for Robotics Simulation of Agricultural Tasks
β 109versor. Versor Geometric Algebra Library
β 326arxiv-latex-cleaner. arXiv LaTeX Cleaner: Easily clean the LaTeX code of your paper to submit to arXiv
β 7ksim_car. New version of my fake_car simulator targeting ROS 2
β 64yolov5. Ultralytics YOLOv5 in PyTorch for object detection, instance segmentation, classification, training, and export.
β 58kRACECAR_DATA. Jupyter Notebook
β 1233DFeatNet. 3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration
β 222graph_msf. A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
β 316terrasentia-dataset. This dataset is intended for the evaluation of visual-based localization and mapping systems in agriculture.
β 32WALDO. Whereabouts Ascertainment for Low-lying Detectable Objects. The SOTA in FOSS AI for drones!
β 1.7kallpairspy. A python library for test combinations generator. The generator allows one to create a set of tests using "pairwise combinations" method, reducing a number of combinations of variables into a lesser set that covers most situations.
β 297launch_generator. The package `launch-generator` is a tool to easily generate launch descriptions for ROS 2.
β 30iris_lama. LaMa - A Localization and Mapping library
β 352navlie. A state estimation package for Lie groups!
β 193python_simple_mppi. Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
β 718plvs. PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.
β 562nigh. Concurrent exact nearest neighbor searching in robotics-relevant spaces, including Euclidean, SO(3), SE(3) and weighted combinations thereof
β 64kdtree. Exact nearest neighbor searching for various Euclidean, SO(3), SE(3) and weighted combinations thereof.
β 11ann-benchmarks. Benchmarks of approximate nearest neighbor libraries in Python
β 5.7kpytorch. Tensors and Dynamic neural networks in Python with strong GPU acceleration
β 102kBonxai. Fast, hierarchical, sparse Voxel Grid
β 866leafmap. A Python package for interactive mapping and geospatial analysis with minimal coding in a Jupyter environment
β 3.7kapriltag_ros. ROS 2 node for AprilTag detection
β 356mh_amcl. C++
β 37gpio-utils. Userspace Utilities for managing GPIOs in Linux
β 103openHASP. HomeAutomation Switchplate based on lvgl for ESP32
β 1kgithub-markdown-toc. Easy TOC creation for GitHub README.md
β 3.3kros2_benchmark. Benchmark the performance of your ROS 2 graphs
β 139rslidar_sdk. RoboSense LiDAR SDK for ROS & ROS2
β 720Ethernet. Ethernet Library for Arduino
β 281models. A collection of pre-trained, state-of-the-art models in the ONNX format
β 9.7kBehaviorTree.CPP. Behavior Trees Library in C++. Batteries included.
β 4.1kros2_canopen. CANopen driver framework for ROS2
β 282ros2can_bridge. Bridging the CAN Bus to ROS topics based on the socketcan libraries.
β 130mrpt_navigation. ROS nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc.
β 1ConSLAM. ConSLAM: Construction Dataset for SLAM
β 150force_platform. Force platform sensor reading software
β 3EtherCard. EtherCard is an IPv4 driver for the ENC28J60 chip, compatible with Arduino IDE
β 1.1kEthernetENC. Ethernet library for ENC28J60. This is a modern version of the UIPEthernet library. EthernetENC library is compatible with all Arduino architectures with Arduino SPI library with transactions support. Only include EthernetENC.h instead of Ethernet.h
β 167tapnet. Tracking Any Point (TAP)
β 2kpybind11-stubgen. Generate stubs for python modules
β 359ros-build-farm-statuses. MRPT (and related libs) ROS build farm dashboard
β 6rpg_svo_pro_gps. SVO Pro with GPS
β 142robotic-simulators-benchmark. Python
β 9grid_map. Universal grid map library for mobile robotic mapping
β 3.2kKimera-Multi. Index repo for Kimera-Multi system
β 409gns3-server. GNS3 server
β 1kwrap. Wrapper generator for C++ projects with multiple language support
β 37OpenSees. OpenSees Source Code Repository
β 795silk. SiLK (Simple Learned Keypoint) is a self-supervised deep learning keypoint model.
β 680NN-SVG. Publication-ready NN-architecture schematics.
β 5.7kPoseLib. Minimal solvers for calibrated camera pose estimation
β 1.2kyolo_service. Dockerized YOLO object detection service
β 20kiss-icp. A LiDAR odometry pipeline that just works
β 2.3khandsfree_ros_imu. Python
β 18mvsim_robocup. Mvsim robocup msl enviroment
β 3ConvexHull2D. Implementations of various 2D convex hull algorithms in C++
β 31ros-deb-builder-action. Github Action to convert ROS packages to Debian packages
β 77micro_ros_espidf_component. micro-ROS ESP32 IDF component and sample code
β 412lazypredict. Lazy Predict help build a lot of basic models without much code and helps understand which models works better without any parameter tuning
β 3.3kopengl-tutorials. Tutorials from the following playlist: https://www.youtube.com/playlist?list=PLPaoO-vpZnumdcb4tZc4x5Q-v7CkrQ6M-
β 1.4kbarn-tps-astar-icra2023. Submission for ICRA 2023 BARN Challenge
β 1ackermann-steering-controller-ros2. C++
β 17hrm. [T-RO] Highway RoadMap (HRM) paradigm for robot motion planning based on parameterizations of the free space
β 36Magic-Sand. Magic-Sand is a software for operating an augmented reality sandbox
β 1kmaplab. A Modular and Multi-Modal Mapping Framework
β 2.9kultralytics. Ultralytics YOLO26, YOLO11, YOLOv8 β object detection, instance segmentation, semantic segmentation, image classification, pose estimation, object tracking
β 60kYOLOV5m. A personal implementation of YOLOv5 (v6.0)
β 53yolov7. Implementation of paper - YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors
β 14knanoGPT. The simplest, fastest repository for training/finetuning medium-sized GPTs.
β 62kbook_ros2. C++
β 808gazebo_models. Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org
β 1.3kawesome-slam-datasets. A curated list of awesome datasets for SLAM
β 1.9kmrpt_path_planning. Non-holonomic path planning algorithms for 2D robots/vehicles based on mrpt-nav
β 17ct_icp. CT-ICP: Continuous-Time LiDAR Odometry
β 896hdl_graph_slam. 3D LIDAR-based Graph SLAM
β 2.3kisaac_ros_visual_slam. Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
β 1.4krmf_demos. Demonstrations of Open-RMF
β 565SuiteSparse. The official SuiteSparse library: a suite of sparse matrix algorithms authored or co-authored by Tim Davis, Texas A&M University.
β 1.5kros_command. Unifying the ROS command line tools
β 78protoletariat. Protocol Buffers for the rest of us
β 214gitdags. A package for drawing educational Git history graphs
β 220floam. Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
β 1.1kminisam. A general and flexible factor graph non-linear least square optimization framework
β 515generate_parameter_library. Declarative ROS 2 Parameters
β 372AirzoneCloud. Python3 library for main Airzone Cloud API
β 25tscns. A low overhead nanosecond clock based on x86 TSC
β 371EnergyPlus. EnergyPlusβ’ is a whole building energy simulation program that engineers, architects, and researchers use to model both energy consumption and water use in buildings.
β 1.5kros2_jetson_benchmarks. The ros2 benchmarks for jetson xavier and pc.
β 28vscode_ros2_workspace. A template for using VSCode as an IDE for ROS2 development.
β 993navigation2. ROS 2 Navigation Framework and System
β 4.5kGroot. Graphical Editor to create BehaviorTrees. Compliant with BehaviorTree.CPP
β 884rrt_star_global_planner. ROS RRT* Global Planner Plugin. Using Husky Robot.
β 149jackal_timer. ROS package for automating navigation time trials
β 7redasm. The OpenSource Disassembler
β 1.8kUMich-ROB-530-public. UMich 500-Level Mobile Robotics Course
β 783symforce. Fast symbolic computation, code generation, and nonlinear optimization for robotics
β 1.6kCLI11. CLI11 is a command line parser for C++11 and beyond that provides a rich feature set with a simple and intuitive interface.
β 4.4kesp8266-WindStation. Simply weather station on ESP8266
β 47mrpt. :zap: The Mobile Robot Programming Toolkit (MRPT)
β 2.2kthe-barn-challenge. Python
β 70