©2020 Toronto Robotics and AI Laboratory

Software and Datasets


Code for 3D object detection for autonomous driving.

SIVO - Semantically Informed Visual Odometry and Mapping

Integrated Bayesian semantic segmentation with ORBSLAM_2 to select better features for Visual SLAM.

WAVELab Software

Open source software from the former WAVELab.


Reusable code for estimation, kinematics, optimization, vision, and more...

AscTec Pelican Quadrotor Flight Dataset

Quadrotor flight dataset created for system identification and modeling of a quadrotor for multi-step prediction.


Fast, structure-preserving depth completion on the CPU using classical morphological image processing techniques.


Manifold geometry with fast automatic derivatives and coordinate frame semantics checking.