repositories | Olaya Álvarez-Tuñón

A selection of my work on GitHub, grouped by theme.

Visual SLAM & Visual Odometry

monocular_visual_slam_survey — evaluation scripts and data loaders for SOTA SLAM algorithms (companion to my IEEE TAI survey).
robot_visual_localization — ROS packages for robot camera-based localization.
gtsam-python-tutorials — Python tutorials for my talk “Introduction to GTSAM: Factor Graph Optimization for (Visual) SLAM”.
SLAM-course — code examples based on Cyrill Stachniss’ SLAM course.
awesome_slam_dataset_downloaders — list of SLAM datasets plus quick download scripts.
dv-ros — event-camera (DV) ROS utilities.
icra2026 — code for an ICRA 2026 submission.
ORB_SLAM3 — accurate open-source library for visual, visual-inertial and multi-map SLAM. (fork)
DROID-SLAM — deep visual SLAM. (fork)
dso — Direct Sparse Odometry. (fork)
DEVO — [3DV ‘24] Deep Event Visual Odometry. (fork)
MAC-VO — [ICRA 2025 Best Paper] metrics-aware covariance for learning-based stereo VO. (fork)
TrianFlow — joint depth-pose learning without PoseNet. (fork)
DF-VO — Depth and Flow for Visual Odometry. (fork)
tartanvo — a generalizable learning-based VO. (fork)
relpose-gnn — [3DV21] visual camera re-localization using graph neural networks. (fork)
ESVO_extension — event-based stereo visual odometry extension. (fork)
[orb_slam3ros_wrapper](https://github.com/olayasturias/orb_slam3_ros_wrapper) — a ROS wrapper for ORB-SLAM3. _(fork)
dso_ros — ROS wrapper for DSO. (fork)
rpg_dvs_ros — ROS packages for DVS event cameras. (fork)

sonar_obstacle_avoidance — sonar-based obstacle avoidance.
uw_img_sim — simulation of water effects on a synthetic image.
remaro_uw_sim — ROS + Gazebo underwater simulation for the REMARO project.
rov_control_uwsim — ROS package for controlling the ROV in UWSim with MATLAB.
buoyager — data-buoy software.
tritech_profiler — driver for the Tritech profiling sonar.
valeport_altimeter — ROS driver for the Valeport VA500 altimeter.
uwsim_profiler — UWSim additions for a profiling sonar sensor.
bluerov_ros2_driver — ROS 2 package for BlueROV maneuvering and sensor reading.
bluerov2-setup-checklist — setup checklist for the BlueROV2.
uuv_simulator — Gazebo/ROS packages for underwater robotics simulation. (fork)
underwater_simulation — UWSim, the underwater simulator. (fork)
rexrov2 — model and config for the RexROV 2 test underwater vehicle. (fork)
remaro_worlds — REMARO worlds for ROS simulation. (fork)
bluerov_ros_playground — scripts to help BlueROV integration with ROS. (fork)

imu_filtering — ROS package that denoises and double-integrates IMU data.
imcpy_ros_bridge — bridge between IMC (imcpy) and ROS.
stams_gui — GUI for the STAMS flooded-mine-shaft project.
turtle_bar — ROS package that moves the TurtleBot around a bar to deliver beer :)
gazebo_basics_tutorial — introductory Gazebo tutorial.
ROSSkill — ROS skill examples.
Dockerfiles — reusable Dockerfiles for robotics development.
imc_ros_bridge — minimal library for bridging ROS and IMC messages. (fork)
AirSim — open-source simulator for autonomous vehicles on Unreal/Unity (Microsoft). (fork)
rrt_navigation — ROS packages for ground-robot navigation and exploration. (fork)
rotors_simulator — RotorS UAV Gazebo simulator. (fork)
[turtlebot3simulations](https://github.com/olayasturias/turtlebot3_simulations) — simulations for TurtleBot3. _(fork)
hackathon_oslo — hackathon project (Oslo). (fork)

Plate-Recognition — license-plate recognition.
chatbot_tutorial — chatbot tutorial.
HMM-course — Hidden Markov Model course examples.
equiadapt — library to make any neural network architecture equivariant. (fork)
gabor_data — scripts to generate images with multiple Gabor patches. (fork)
ACE-Step — a step towards a music-generation foundation model. (fork)