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fast_lio_localization

A simple localization framework that can re-localize in built maps based on FAST-LIO.

fusion

icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

laser_scan_matcher

An incremental laser scan matcher, using PLICP (point-to-line iterative closest point) scan matching algorithm.

laser_scan_matcher_odometry

laser_scan_matcher that outputs ROS odometry messages

line_segment_mapping

[TIM2020] An incremental and consistent 2-D line segment-based mapping approach

localizer

long-term-localization

Pole-like Objects Mapping and Long-Term Robot Localization in Dynamic Urban Scenarios

mapclosures

Effectively Detecting Loop Closures using Point Cloud Density Maps

ndt_localizer

A simple, clean NDT licalization ROS package.

ndt_omp

Multi-threaded and SSE friendly NDT algorithm

neo_localization

Neobotix localization package, a more accurate alternative to AMCL.

ob_gins

An Optimization-Based GNSS/INS Integrated Navigation System

odom_gnss_ekf

ROS package for combining wheel odomety , IMU, and GNSS by EKF

plicp_wrapper

pypose

A library for differentiable robotics.

rgbd_odom

ROS package for robust odometry estimation based on RGBD data

rmcl

Software Tools for Mobile Robot Localization in 3D Meshes.

srf_laser_odometry

Robust Planar Odometry Based on Symmetric Range Flow and Multi-Scan Alignment