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3d-icp-cov

Code for the paper "A New Approach to 3D ICP Covariance Estimation for Mobile Robotics"

3dlinedetection

A simple and efficient 3D line detection algorithm for large scale unorganized point cloud

autodiff_on_manifold

Use ceres solver auto-diff to solve pose estimation problem

automerge_server

AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments

coco-lic

[RA-L 2023] Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline

dbscan-pcl-optimized

DBScan algorithm using Octrees to cluster 3D points in a space with PCL Library

demo_lidar

Depth Enhanced Monocular Odometry (camera and lidar version)

depth_clustering

:taxi: Fast and robust clustering of point clouds generated with a Velodyne sensor.

dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

dm-vio-python-tools

Python tools for running and evaluating DM-VIO.

dm-vio-ros

ROS wrapper for DM-VIO: Delayed Marginalization Visual-Inertial Odometry

dso

Direct Sparse Odometry

dso_noted

carefully commented and noted DSO's code for you to reproduce and understand it's underlying theory

dvl_slam_ros

DVL_SLAM_ROS

environment-check-tool

fast_gicp

A collection of GICP-based fast point cloud registration algorithms

fast_lio

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

gh-icp

GH-ICP（Iterative Closest Point algorithm with global optimal matching and hybrid metric）algorithm

gicp

Generalized ICP reference implementation

go-icp

Implementation of the Go-ICP algorithm for globally optimal 3D pointset registration

hyperslam

Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.

icra-2022-slam-paper-list

Unofficial ICRA 2022 SLAM paper list

ikfom

A computationally efficient and convenient toolkit of iterated Kalman filter.

image-rectification

Compute Vanishing points using RANSAC and rectify the image

imu_zupt

ZUPT Algorithm for filtering the IMU's data.

kalibr_allan

IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.

kimera-vio

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

libpointmatcher

An "Iterative Closest Point" library for 2-D/3-D mapping in Robotics

licas3

[T-RO 2022] Official Implementation for "LiCaS3: A Simple LiDAR–Camera Self-Supervised Synchronization Method," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2022.3167455.

lidar2rosbag_kitti