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Cam4DOcc

[CVPR 2024] Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications

DipG-Seg

The official implementation of DipG-Seg.

steam_icp

LIMOT

A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking.

RingFalsNormal

A novel fast approximate least squares normal estimator using the structural information of certain LiDAR, is fast and accurate compared to PCL, and meets the real-time requirements of the LIO system.

PanoVLM

PanoVLM: Low-Cost and Accurate Panoramic Vision and LiDAR Fused Mapping

ICP-Flow

Official implementation: ICP-Flow: LiDAR Scene Flow Estimation with ICP (CVPR 2024).

rostaller

Make it easy for you to install ROS 1 (indigo, kinetic, melodic and noetic) and ROS 2 (galactic) on corresponding ubuntu distributions automatically in just 4 steps.

Active-SLAM-with-Cartographer

This work contains a modified version of cartographer_frontier_detection and rrt_exploration. We implement an active exploration process and improve its robustness and performance. More details are described in the paper "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration" (IROS2020).

Ground-Fusion

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

Fast-Drone-250

hardware and software design of the 250mm autonomous drone

glocal_exploration

Efficient local and global exploration on submap collections with changing past pose estimates.

iG-LIO_SAM_LC

iG-LIO with Loop Closure(PGO) and Online Re-Localize

M2DGR-plus

Extension and update of M2DGR: a novel Multi-modal and Multi-scenario SLAM Dataset for Ground Robots (ICRA2022 & ICRA2024)

srrg

ego-planner-for-ground-robot

ego-planner-for-ground-robot

SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)

fastcampus_slam_codes

Code exercises for the SLAM course in 'Computer Vision, LiDAR processing, and Sensor Fusion for Autonomous Driving' lecture series

Optimized-SC-F-LOAM

CSF

LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation

FAST-LIO-SAM-SC-QN

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on ScanContext, Quatro, and Nano-GICP

ImMesh

ImMesh: An Immediate LiDAR Localization and Meshing Framework

putn

LiDAR-PTQ

ICLR2024: LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection.

lidar_degeneracy_datasets

LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.

PlanarSLAM

A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.

nvblox_ros1

ROS1 wrappers for GPU-acceleration volumetric mapping with nvblox.

Cloud_Map_Evaluation

Point cloud map evaluation library for the FusionPortable dataset. Metrics include Mean Map Entropy (MME), RMSE, Accuracy(mean error), Precision(standard deviation), completeness(overlap ratio), chamfer distance and F1-score at all levels of 1/2/5/10/20cm.

carmen_player_ros

A player of CARMEN log files to use them in ROS