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apriltag

AprilTag is a visual fiducial system popular for robotics research.

balm

An efficient and consistent bundle adjustment for lidar mapping

cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

ct_icp

Continuous Time LiDAR odometry

d-liom

Tightly-coupled Direct LiDAR-Inertial Odometry and Mapping Based on Cartographer3D.

direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

direct_lidar_odometry

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

dufomap

[RA-L'24] DUFOMap (fork for personal usage)

estimation_for_robotics_answer

evo

Python package for the evaluation of odometry and SLAM

fast_gicp

A collection of GICP-based fast point cloud registration algorithms

fast_lio

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

first-repo

floam_g2o

Fast LOAM use g2o

fucking-algorithm

刷算法全靠套路，认准 labuladong 就够了！English version supported! Crack LeetCode, not only how, but also why.

gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments

googletest

GoogleTest - Google Testing and Mocking Framework

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.

hba

A globally consistent LiDAR map optimization module

i-octee

ia_lio_sam

IA-LIO-SAM is enhanced LIO-SAM using Intensity and Ambient channel from OUSTER LiDAR.

kimera-multi

Index repo for Kimera-Multi system

lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics

lidar_imu_init

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

lili-om

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

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

llol

LLOL: Low-Latency Odometry for Spinning Lidars

loam_noted

loam code noted in Chinese（loam中文注解版）