Stars
An optimization-based multi-sensor state estimator
Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light
g2o: A General Framework for Graph Optimization
COLMAP - Structure-from-Motion and Multi-View Stereo
The Kalibr visual-inertial calibration toolbox
Mirror of the Basalt repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt
BabelCalib: A Universal Approach to Calibrating Central Cameras. In ICCV (2021)
RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024)
various PnP slover implementations, include p3p, p3pf, epnp, dlt
AprilTag is a visual fiducial system popular for robotics research.
An Optimization-Based GNSS/INS Integrated Navigation System
Use visible and infrared images to train the network. This method is better to face the dark environment.
[RAL 2023] A globally consistent LiDAR map optimization module
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 m…
Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22
M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)
[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints
sensor calibration tools for autonomous driving and robotics
CoderGenJ / SLAM-application
Forked from engcang/SLAM-applicationLeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI application and comparison on Gazebo and real-…
IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
😎 A current list of LiDAR-IMU calibration method
An efficient and consistent bundle adjustment for lidar mapping
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras