An extension of Open3D to address 3D Machine Learning tasks

Python code to fuse multiple RGB-D images into a TSDF voxel volume.

A lean C++ library for working with point cloud data

Algorithms and Publications on 3D Object Tracking

3DMatch - a 3D ConvNet-based local geometric descriptor for aligning 3D meshes and point clouds.

Fuse multiple depth frames into a TSDF voxel volume.

DN-Splatter + AGS-Mesh: Depth and Normal Priors for Gaussian Splatting

C++/Python Sparse Volumetric TSDF Fusion

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

A multi-sensor capture system for free viewpoint video.

Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

Accompanying library for the Record3D iOS app (https://record3d.app/). Allows you to receive RGBD stream from iOS devices with TrueDepth camera(s).

Intrinsic3D - High-Quality 3D Reconstruction by Joint Appearance and Geometry Optimization with Spatially-Varying Lighting (ICCV 2017)

A paper list of RGBD semantic segmentation (processing)

Large dataset of hand-object contact, hand- and object-pose, and 2.9 M RGB-D grasp images.

[ECCV 2020] PyTorch Implementation of some RGBD Semantic Segmentation models.

MIT-Princeton Vision Toolbox for Robotic Pick-and-Place at the Amazon Robotics Challenge 2017 - Robotic Grasping and One-shot Recognition of Novel Objects with Deep Learning.