GV

GeezerVison

The World Wide Web, restored to 800 pixels of glory.

Home|About|Gaming cabinet|Archives|How it works|Starter sites

On this site

  • Sign in
  • uos
  • ActionsCI/CD and automation
  • CodespacesCloud development environments
  • All Features
  • Documentation
  • Training
  • Certifications
  • Build with Copilot
  • Customize Copilot
  • Integrations
  • Trending repos
  • GitHub Sponsors
  • Developer articles

This view

  • Original page
  • New address

GeezerVison is showing github.com — Osnabrück University – Mobile Robotics

README.md

UOS – Mobile Robotics

Welcome to the official GitHub for open source mobile robot software developed at the Osnabrück University (UOS).

We focus on cutting-edge research in robotics, 3D navigation, localization, and simulation. Our repositories offer tools and frameworks to support autonomous systems in unstructured environments.

Research

A selection of our research projects:

Simulation

  • rmagine – Fast ray casting-based simulation of range sensors in 3D environments. [ICRA 2023]
  • RadaRays – Ray tracing-based simulation of spinning FMCW radars. [RA-L 2025]

3D Navigation

  • MeshNav – Navigation over 3D triangle mesh surfaces. [IAV 2016] [ICRA 2021]
  • MeshMPPI – Model predictive control on surface meshes & dynamic obstacle avoidance.

Map-based Localization

  • TSDF-MCL – 6-DoF localization in TSDF-based 3D maps. [IRC 2023] [IJSC 2025]
  • RMCL – Mobile Robot Localization in 3D Triangle Meshes / Geometric Scene Graphs. [IROS 2024]

SLAM

  • warpsense/featsense – GPU-implementation of HATSDF-SLAM and F-LOAM based TSDF-Mapping. [IRC 2023]
  • HATSDF-SLAM – A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors. [Robotics and Autonomous Systems 2022]

Geometry Processing

  • lvr2 – A C++ library for reconstructing mesh surfaces from (unordered) 3D point cloud data. [IRC 2018]

Teaching & Robots

  • ros2_tutorial – Educational material for learning ROS 2.
  • ceres_robot – Software stack for the Ceres robot platform.

Tools

  • marina – The missing ROS 2 bag registry.
  • minot – A versatile toolset for debugging and verifying stateful robot perception software. [ROSCon Fr & De 2025]
  • uos_tools – Utility scripts and packages for robotics development.
  • ReconfROS – Running ROS on Reconfigurable SoCs. [DroneSE and RAPIDO '21]
  • mesh_tools – Tools and Messages for Annotated 3D Triangle Meshes in ROS. [Robotics and Autonomous Systems 2021]

Involved Research Groups

This organization is shared with research groups at Osnabrück University (UOS) working in the field of mobile robotics.

Knowledge-Based Systems

  • Website: kbs.informatik.uos.de
  • Head: Prof. Dr. Joachim Hertzberg

Computer Engineering

  • Website: www.informatik.uos.de/research_groups/computer_engineering.html
  • Head: Prof. Dr. Mario Porrmann

We welcome collaboration and contributions. Feel free to explore our repositories and get in touch.

Pinned Loading

  1. rmcl rmcl Public

    Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

    C++ 257 27

  2. lvr2 lvr2 Public

    Las Vegas Reconstruction 2.0

    C++ 158 21

  3. rmagine rmagine Public

    A robot wants to simulate too

    C++ 77 18

  4. mesh_mppi mesh_mppi Public

    MeshMPPI: A Model Predictive Path Integral control algorithm for MeshNav.

    C++ 59 6

  5. tsdf_localization tsdf_localization Public

    6D Monte Carlo Localization in 3D TSDF maps

    C++ 47 3

  6. radarays_ros radarays_ros Public

    Rotating FMCW radar simulation based on ray tracing

    C++ 47 8

Repositories

Loading
Type
Language
Sort
Showing 10 of 72 repositories
  • rmagine Public

    A robot wants to simulate too

    uos/rmagine's past year of commit activity
    C++ 77 BSD-3-Clause 18 0 2 Updated Nov 11, 2026
  • minot Public

    A versatile toolset for debugging and verifying stateful robot perception software.

    uos/minot's past year of commit activity
    Rust 13 Apache-2.0 0 0 0 Updated Nov 10, 2026
  • lvr2 Public

    Las Vegas Reconstruction 2.0

    uos/lvr2's past year of commit activity
    C++ 158 BSD-3-Clause 21 0 0 Updated Nov 5, 2026
  • homebrew-tools Public

    Homebrew tap for uos

    uos/homebrew-tools's past year of commit activity
    Ruby 0 0 0 0 Updated Oct 28, 2026
  • marina Public

    The missing ROS 2 bag registry.

    Uh oh!

    There was an error while loading. Please reload this page.

     uos/marina's past year of commit activity
    Rust 6 Apache-2.0 1 0 1 Updated Oct 28, 2026
  • ratslang Public

    A minimal and extensible configuration language for humans working with robots.

    uos/ratslang's past year of commit activity
    Rust 2 Apache-2.0 0 1 0 Updated Oct 28, 2026
  • ros_pointcloud2 Public

    A PointCloud2 message conversion library for ROS1 and ROS2.

    uos/ros_pointcloud2's past year of commit activity
    Rust 22 Apache-2.0 5 0 1 Updated Oct 27, 2026
  • rmcl Public

    Mobile Robot Localization in 3D Triangle Meshes & Geometric Scene Graphs

    uos/rmcl's past year of commit activity
    C++ 257 BSD-3-Clause 27 1 0 Updated Aug 7, 2026
  • rmagine_gazebo_plugins Public

    Ray Casting-Based Range Sensor Simulation in Gazebo using Rmagine

    uos/rmagine_gazebo_plugins's past year of commit activity
    C++ 28 BSD-3-Clause 5 1 0 Updated Aug 6, 2026
  • .github Public
    uos/.github's past year of commit activity
    0 0 0 0 Updated Apr 5, 2026
View all repositories

People
@mintar @jspricke @v4hn @hdeeken @spuetz @amock @mortacious @stelzo

Top languages

C++ Python CMake Rust Ruby

Most used topics

ros robotics gazebo lidar ros-driver
You are visitor 01402503 — GeezerVison does not store the pages you look up.
Best viewed with Netscape Navigator 4.7 or Internet Explorer 6 at 800×600. No cookies required.