High-performance localization software for autonomous vehicles. A particle filter is combined with a map to localize a vehicle.

An open-source library for transformation functions (homogeneous transformation matrices, vectors, euler angles, quaternions, etc.) useful for robotic applications.

A C++ module for Object Detection and tracking (in this case humans are detected, but 80 classes from COCO dataset can be detected). The coordinates of all the objects detected in the camera frame are transformed into robot reference frame for further processing.