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dbscan_kdtree

Fast Implementation of DBSCAN using Kdtree for acceleration. The example is clustering point cloud(PCL library used).

dynamicmap_benchmark

[ITSC'23] Dynamic map benchmark, open-sourced all the methods and datasets in the paper.

erasor

Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21

lio-sam

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

lio-sam-mid360

lio-sam_based_relocalization

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.

octomap

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)

sc-lio-sam

LiDAR-inertial SLAM: Scan Context + LIO-SAM

semantic-kitti-api

SemanticKITTI API for visualizing dataset, processing data, and evaluating results.

urbanloco

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

yolov5_ros

Real-time object detection with ROS, based on YOLOv5 and PyTorch (基于 YOLOv5的ROS实时对象检测)