Nvidia Isaac Sim with MOLA to enable advanced 3D LiDAR odometry and mapping

MOLA module: Front-end for point-cloud sensors based on generic ICP algorithms. LiDAR odometry and loop closure.

MOLA SLAM for Livox MID-360 LiDAR + ROS2 Humble. Based on Prof. José-Luis Blanco-Claraco's framework. Custom preprocessing & visualization included.

Three.js Mars terrain browser

Multi-objective adversarial perturbations on LiDAR point clouds using NSGA-III to evaluate SLAM robustness. Integrates MOLA SLAM with Isaac Sim via ROS2.

Bridge: ROS1 -> MOLA

The Mola CMS all-in-one CLI

A collection of planetary science projects compiled under 'Space Exploration' program during a 5-month long internship at the Institute of Space research, German Aerospace Center (DLR). A deep dive into MOLA elevations, MARSIS binary radars, and numerical simulations around Noctis Mons region.

Formal verification of PointNet for LiDAR point clouds using ERAN and α,β-CROWN, with NSGA-III adversarial weights

Versatile RawDataSource from any real sensor supported by mrpt-hwdrivers

Pick safe candidate landing regions on Mars + elevation profiles + 3D DEM view