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a-loam

Advanced implementation of LOAM

a1_slam

A1 SLAM: Quadruped SLAM using the A1's onboard sensors

apollo

An open autonomous driving platform

awesome-cpp

A curated list of awesome C++ (or C) frameworks, libraries, resources, and shiny things. Inspired by awesome-... stuff.

cartographer_detailed_comments_ws

cvlife cartographer注释_lixiang

cheetah-software

目标

ctlo

CTLO: Continuous-Time LiDAR Odometry

elevation_mapping_zju

ZJU 参考版本

emplanner

The code of EM planner learning.

fusion

IMU姿态滤波（或许可借鉴）

gem

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.旨在处理户外资源受限场景下带闭环的建图问题。局部地图是基于ETHZ的Elevation map的，当时测试下来，ETHZ的Elevation map是CPU实现的，不太适合实时性较强的移动机器人应用场景，ETHZ用在四足上，运动速度慢，所以基本可行。我们提出了一种实时可扩展的GPU实现的全局Elevation map. 在整个原始Elevation map的框架中，将部分可并行部分进行cuda加速，此外实现了ray tracing算法进行了实时障碍物消除。原始几何数据的基础上进行了可行域分析，并添加了相应的地图层，为地面移动机器人避

github520

解决github访问时图裂、加载慢的问题。（无需安装）

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.

icra2023_quadruped_robot_challenges

Thie repository provides simulation map environment of ICRA2023 Quadruped Robot Challenges

lio-sam

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

lio-sam-detailednote

LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS。--知乎卢涛

ocs2_legged_robot_notes

openslam-notes

个人对目前较为成熟的视觉/激光SLAM算法进行的注释以及解读文件

quad-sdk_go1

Software tools for agile quadrupeds(Unitree Go1)

rspmp

使用elevation_mapping生成2.5D地图，然后根据2.5D地图计算区域的可通行性并结合语义分割的图像信息进行运动规划

sensorscalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving 专门用于自动驾驶的LiDAR惯导标定方案

slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

slambook2

edition 2 of the slambook

traversability_estimation

Traversability mapping for mobile rough terrain navigation