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direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

dynamic_robot_localization

Point cloud registration pipeline for robot localization and 3D perception

erasor

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

export_fig

A MATLAB toolbox for exporting publication quality figures

fast-livo

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.

faster-lio

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

graph_msf

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

hba

A globally consistent LiDAR map optimization module

hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR

interactive_slam

Interactive Map Correction for 3D Graph SLAM

laserscan_to_pointcloud

ROS package to convert and assemble LaserScans to PointCloud2

lego-loam

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

livox-localization

A simple localization framework that can re-localize in one point-cloud map.

livox_camera_calib

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

loam_livox

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

loam_noted

loam code noted in Chinese（loam中文注解版）

lviorf

This repo is modified based on lvi-sam and liorf, which remove the feature extraction module and makes it easier to adapt different sensor.

m-detector

m-explore

ROS packages for multi robot exploration

manim

Animation engine for explanatory math videos

maplab

An open visual-inertial mapping framework.

matlab_code_for_ts

ndt_localizer

A simple, clean NDT licalization ROS package.

note_to_ros

some note to ros and typora

pcd2pgm_package

点云pcd文件转二维栅格地图

pose_to_tf_publisher

ROS package that publishes TF from poses

r2live

R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.

r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

robot_localization_tools

ROS node that publishes the localization error between a pose and the ground truth provided by gazebo simulator

rtklib