Discover UAV Technology Resources

Aeroscapes: Aerial Semantic Segmentation Dataset Unofficial redistribution of the AeroScapes dataset under the original CC BY-SA 4.0 license. Disclaimer This repository is not an official release of the AeroScapes dataset. The AeroScapes dataset was created by Ishan Nigam, Chen Huang, and Deva Ramanan, with dataset collection and manual annotation supported by Autel Robotics. They retain all copyr

AirSim is Microsoft's Unreal/Unity-based open simulator for drones and vehicles, commonly used for sensor simulation and perception research.

Simplified ArduPilot SITL launcher for multi-drone simulations

RemoteID support using OpenDroneID

DroneCAN support for Arduino on STM32!

🛩️ Browser-based ArduPilot flight log analyzer — 3D satellite terrain playback, AI copilot, FFT, PID tuning, PDF reports. Local, nothing uploaded.

ArduPlane, ArduCopter, ArduRover, ArduSub source

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers

Simulation environment for multiagent drone systems using Ardupilot, ROS 2, and Gazebo enabling users to spawn and control multiple drones, configure sensors, and test autonomous behaviors in a reproducible and extensible setup.

Open Source Flight Controller Firmware

[ECCV 2022] ByteTrack: Multi-Object Tracking by Associating Every Detection Box

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Clean-code version of the baseflight flight controller firmware

CloudCompare main repository

ROS-based framework and RPi image to control PX4-powered drones 🍀

COLMAP is the reference open-source structure-from-motion and multi-view stereo pipeline used to initialize photogrammetry and radiance-field reconstruction from drone imagery.

AirSim is a simulator for drones, cars and more, built on Unreal Engine. We expand it with new implementations and sensor modalities.

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.

Python library to communicate with the Crazyflie™

Crazyswarm is USC ACTLab's Crazyflie-based swarm flight system for multi-agent coordination experiments with motion capture and simulation support.

End-to-End Object Detection with Transformers

A WPF application that lets you get a more in-depth look at flights flown with DJI drones. This app has the potential to support any drone that stores telemetry data in the WebVTT format within the recorded .MP4 file.

Drone-based Joint Density Map Estimation, Localization and Tracking with Space-Time Multi-Scale Attention Network

DroneKit-Python library for communicating with Drones via MAVLink.

Drone-based RGB-Infrared Cross-Modality Vehicle Detection via Uncertainty-Aware Learning

The dRonin flight controller software.

EGO-Planner is a local trajectory planner that does not require a prebuilt global map, designed for onboard UAV replanning in cluttered environments.

An efficient single/multi-agent trajectory planner for multicopters.

EmuFlight is flight controller software (firmware) used to fly multi-rotor craft.

Flight controller software for hobbyist - build your own flight controller.

hardware and software design of the 250mm autonomous drone

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

Fast-Planner is a B-spline-based trajectory planning framework for aggressive UAV flight, covering path search, optimization and time allocation for fast autonomous missions.

The RF and reverse engineering framework for everyone. Follow and ★ to show your support!

3D Gaussian Splatting is the official reference implementation for real-time radiance-field rendering, a growing research direction for aerial 3D reconstruction.

Open source robotics simulator. The latest version of Gazebo.

[ECCV 2024] Official implementation of the paper "Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection"

GWHD 2021: Global Wheat Head Dataset (Object Detection) Unofficial redistribution of the Global Wheat Head Dataset (GWHD) 2021 competition release, reformatted into a standardized YOLO-compatible directory layout. Disclaimer This repository is not an official release of the Global Wheat Head Dataset. GWHD was created by the Global Wheat Head Detection consortium — a multi-institution, multi-countr

gym-pybullet-drones provides PyBullet Gymnasium environments for single and multi-agent quadcopter control, a practical simulator for RL research and planning baselines.

A high-altitude infrared thermal dataset for Unmanned Aerial Vehicle-based object detection

INAV: Navigation-enabled flight control software

Inria Aerial Image Labeling Dataset Description The Inria Aerial Image Labeling Dataset is a building semantic segmentation dataset proposed in "Can semantic labeling methods generalize to any city? the inria aerial image labeling benchmark," Maggiori et al.. It consists of 360 high-resolution (0.3m) RGB images, each with a size of 5000x5000 pixels. These images are extracted from various internat

InterUSS DSS implements the ASTM discovery-service concept for Remote ID and UTM flight coordination, the standard service for UAS network integration.

Python implementation of the IOU Tracker

jetson-inference is NVIDIA's vision inference toolkit for Jetson devices, providing detection/classification/segmentation examples and TensorRT integration for onboard UAV AI.

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

A compact implementation of the Cyphal/CAN protocol in C for high-integrity real-time embedded systems

RealSense SDK

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Modular framework for online informative path planning.

Marshalling / communication library for drones.

Route mavlink packets between endpoints

MAVLink proxy and command line ground station

API and library for MAVLink compatible systems written in C++ 20

Open-source MAVLink fleet operations for PX4: SITL, drone shows, search and rescue, cooperative autonomy, and field validation

MAVSDK client for Python.

Example and utiliy scripts for the Mid-Air dataset

Mission Planner is ArduPilot's Windows ground control station, used for firmware loading, mission planning, log analysis and live telemetry in ArduPilot workflows.

OpenMMLab Detection Toolbox and Benchmark

OpenMMLab Rotated Object Detection Toolbox and Benchmark

OpenMMLab Semantic Segmentation Toolbox and Benchmark.

MRS UAV Core is CTU MRS's ROS metapackage for UAV control, state estimation, trajectory generation and tracking, bundling PX4 integration and simulation tooling.

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Nerfstudio is a modular framework for training and visualizing NeRF models, used for aerial 3D reconstruction experiments from drone captures.

A lightweight REST API to access aerial image processing engines such as ODM or MicMac

ONNX Runtime is a cross-platform inference engine that lets UAV developers deploy ONNX models across CPU, GPU and NPU backends with one format.

An open source platform for visual-inertial navigation research.

Open Drone ID Core C Library

A command line toolkit to generate maps, point clouds, 3D models and DEMs from drone, balloon or kite images. 📷

OpenHD wireless digital video transmission for FPV and telemetry.

open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.

OpenVINO is Intel's open inference toolkit for optimizing and deploying AI on Intel CPUs, GPUs and VPUs, relevant for vision workloads on x86 edge computers.

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

ORB-SLAM3 is the reference open-source visual and visual-inertial SLAM library supporting monocular, stereo, RGB-D and IMU inputs with multi-map operation for UAV state estimation.

Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.

A framework built on top of NVIDIA Isaac Sim for simulating drones with PX4 support and much more

A repository for storing models that have been inter-converted between various frameworks. Supported frameworks are TensorFlow, PyTorch, ONNX, OpenVINO, TFJS, TFTRT, TensorFlowLite (Float32/16/INT8), EdgeTPU, CoreML.

Design files for the open hardware designs used by 3DR

The Time Series Visualization Tool that you deserve.

WebGL point cloud viewer for large datasets

PX4 Autopilot Software

web application for flight log analysis & review

Simple multirotor simulator with MAVLink protocol support

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

PX4 SITL bridge for X-Plane 11/12 with fixed-wing, multirotor, VTOL, and AAM simulation support

Computer vision, object tracking, and target following for PX4 drones using OpenCV, YOLO, MAVSDK, MAVLink, and a real-time web dashboard

Python implementation of the Cyphal protocol stack.

UAV Flight Simulator for Reinforcement Learning Research

Python module & scripts for ULog files

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

RKNN-Toolkit2 is Rockchip's official toolchain for converting and deploying models to RK series NPUs such as RK3588, the main path for RK-based companion computers.

Fixed-wing autopilot for ROSflight

RotorS is a UAV gazebo simulator

RTKLIB is an open-source GNSS positioning package supporting standard and precise positioning (single, DGPS, kinematic, static, PPP) with GPS, GLONASS, Galileo, QZSS, BeiDou and SBAS.

MAVLink implementation written in Rust

Robot Vulnerability Database. An archive of robot vulnerabilities and bugs.

Python-based Quadcopter Flight Controller Software using a Raspberry Pi Pico, MPU-6050, and a FlySky radio transmitter & receiver

SeaDronesSee: Maritime UAV Object Detection Dataset Unofficial redistribution of the SeaDronesSee object-detection (v2) dataset, reformatted into a standardized YOLO-compatible directory layout. Disclaimer This repository is not an official release of the SeaDronesSee dataset. SeaDronesSee was created by Leon Amadeus Varga, Benjamin Kiefer, Martin Messmer, and Andreas Zell at the University of Tüb

TensorRT is NVIDIA's inference SDK for high-performance deep learning on GPUs and Jetson devices, the primary runtime family for UAV edge AI deployments.

Implementation of popular deep learning networks with TensorRT network definition API

An easy to use PyTorch to TensorRT converter

Modular Autopilot for Unmanned Aerial Vehicles

UAVid: Aerial Semantic Segmentation Dataset Unofficial redistribution of the UAVid dataset under the original CC BY-NC-SA 4.0 license. Disclaimer This repository is not an official release of the UAVid dataset. The UAVid dataset was created by the original authors, who retain all copyright and intellectual property rights. This repository does not claim ownership of any images, annotations, or met

Ultralytics YOLO26, YOLO11, YOLOv8 — object detection, instance segmentation, semantic segmentation, image classification, pose estimation, object tracking

This dataset was created using LeRobot. UZH-FPV Drone Racing, 128px, LeRobot format A processed derivative of the UZH-FPV Drone Racing Dataset packaged as a LeRobotDataset (v3): 24 episodes, 24,242 frames of aggressive indoor FPV racing flight, as 128x128 grayscale onboard camera frames with 4D continuous control actions. This is not my recording. All flight data was collected and published by the

An optimization-based multi-sensor state estimator

VINS-Mono is a monocular visual-inertial state estimator from HKUST Aerial Robotics, commonly used as a UAV localization baseline on ROS.

The dataset for drone based detection and tracking is released, including both image/video, and annotations.

VisDrone aerial object detection toolkit with 33 models (Torchvision + YOLO), training, evaluation, video inference, benchmarking, and annotation conversion.

Official code for VoLN: Vision-Only Long-Horizon Navigation—Paradigm, Benchmark, and Method. An embodied AI UAV benchmark and VoLN-MLLM agent bridging VLN and multimodal LLMs across 7,210 episodes, AirSim, and real-world flights.

WebODM is the web interface for OpenDroneMap, letting drone teams run photogrammetry tasks through a browser instead of the command line.

Ultralytics YOLOv5 in PyTorch for object detection, instance segmentation, classification, training, and export.

YOLOX is a high-performance anchor-free YOLO, exceeding yolov3~v5 with MegEngine, ONNX, TensorRT, ncnn, and OpenVINO supported. Documentation: https://yolox.readthedocs.io/