Institute of Measurement and Control Systems — Karlsruhe Institute of Technology (KIT-MRT) Welcome to the GitHub organization of the Institute of Measurement and Control Systems (MRT) at KIT.
Here you find open-source software and datasets from our research on autonomous driving, robotics, motion prediction, and related topics.
The following sections group the repositories by topic to make navigation easier.
Perception & Computer Vision
Repository
Description
YOLinO You Only Line Once — anchor-free lane detection.
masked-fusion-360 Self-supervised pre-training method to fuse LiDAR and camera features.
latent_diffusion_face_anonymization LDFA: Latent Diffusion Face Anonymization for self-driving applications.
pointcloud_surface Ground surface estimation algorithms based on point clouds.
cityscapes-tl Cityscapes traffic light extension.
AAT Adversarial Attacked Teacher for domain adaptive object detection.
Motion Prediction & Forecasting
Repository
Description
future-motion Common repo for research on motion forecasting for self-driving cars.
red-motion Transformer model for motion prediction via redundancy reduction.
road-barlow-twins Self-supervised learning method for motion prediction.
ridam Recurrent Interaction-aware Driving Agent Model.
Planning & Decision Making
Repository
Description
arbitration_graphs Hierarchical behavior models for decision-making and behavior generation in robotics.
flow_drive_planner FlowDrive: moderated flow matching with data balancing for trajectory planning.
mosaic An extensible framework for composing rule-based and learned motion planners.
OADF Open Automated Driving Framework.
Localization, Odometry & Calibration
Repository
Description
momo Monocular Motion Estimation on Manifolds.
limo Lidar-Monocular Visual Odometry.
viso2 Libviso2 — a visual odometry library.
feature_tracking Framework for tracking feature matches, e.g., from libviso2.
coco Stereo camera online calibration with visual odometry.
block_optimization Block optimization for stereo camera calibration using the Ceres solver.
PLCC Photometric laser-scanner to camera calibration.
stargazer Landmark-based visual indoor localization system for mobile robots.
Members of MRT have also published important open-source software under external organizations, which are closely related to the institute's research.
Repository
Description
Lanelet2 HD map handling framework for automated driving, with routing, traffic rules, and ROS support.
coincar-sim ROS-based simulation framework for cooperatively interacting automobiles.
libLanelet The original Lanelet map library, predecessor to Lanelet2. Parses OSM maps and supports routing.
Source
Description
LIBVISO2 Fast C++ library (with MATLAB wrappers) for monocular and stereo visual odometry.
LIBELAS C++ library for efficient large-scale stereo depth map computation.
LIBICP C++ library for Iterative Closest Point fitting of 2D and 3D point clouds.
LIBOMNICAL Calibration toolbox for quasi-central catadioptric (omnidirectional) cameras.
DIRD Illumination-robust descriptor for visual place recognition.
TriTrack2 MATLAB library for 3D moving object detection and tracking using trinocular stereo.
