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a-loam

Advanced implementation of LOAM

camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry

cartographer

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

cartographer_ros

Provides ROS integration for Cartographer.

data

PCD files for tutorials, examples, or PCL-related applications

floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping

floam_ssl

Fast LOAM (Lidar Odometry And Mapping) for solid state lidar indoor localization and mapping (Intel Realsense L515 as an example)

gms-feature-matcher

C++ code for "GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence"

grd

Geometric Relation Distribution (GRD) for loop closure in LiDAR 2D mapping problems.

gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

ieskf_slam

ieskf lio

keras-image-segmentation

Image segmentation with keras. FCN, Unet, DeepLab V3 plus, Mask RCNN ... etc.

lego-loam

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

localization_in_auto_driving

nicp

Normal Iterative Closest Point (NICP) Algorithm C++ Library

okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

open_karto

Catkinized ROS Package of the OpenKarto Library (LGPL3)

opencv

Open Source Computer Vision Library

pangolin

Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

pcl

Point Cloud Library (PCL)

protobuf

Protocol Buffers - Google's data interchange format

salt-pepper

Robotics Project

slambook

suma

Surfel-based Mapping for 3d Laser Range Data (SuMa)

unet

A demo of Unet to detect edges!

unetplusplus

Official Keras Implementation for UNet++ in IEEE Transactions on Medical Imaging and DLMIA 2018

vid2curve

Thin structure reconstruction

vins-mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

vins-mono

A Robust and Versatile Monocular Visual-Inertial State Estimator