The image_projection package allows to easily configure projections from multiple calibrated camera sources. A demo launch configuration is available. 

You can

  • Rectify a distorted image
  • Create a cylindrical projection (equirectangular, mercator …) from 360° camera data from multiple cameras
  • Create a perspective (pinhole) projection from fisheye camera data
  • Convert non-linear fisheye data to an ideal fisheye lense (“tru-theta”)
  • Define a virtual pan-tilt camera

This software has been used extensively by Team Hector. We use the compact 50$ 360° camera Insta360 Air as a virtual pan-tilt camera and 360° object detection camera simultaneously.

DARPA Robotics Challenge Team ViGIR

ROS packages related to DARPA Robotics Challenge developed by Team ViGIR.


ROS packages for the Robotis THOR-MANG robot.

Hector SLAM

hector_slam contains ROS packages related to performing SLAM in unstructured environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.

Hector Navigation

hector_navigation provides packages related to navigation of unmanned vehicles in USAR environments.