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autoware

Autoware - the world's leading open-source software project for autonomous driving

fingerprint-localization

range-mcl

Range Image-based LiDAR Localization for Autonomous Vehicles Using Mesh Maps (chen2021icra)

slam_toolbox

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

awesome-point-cloud-analysis

A list of papers and datasets about point cloud analysis (processing)

awesome-point-cloud-place-recognition

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

classical-SLAM

一些经典的SLAM算法学习并注释的版本

core_perception

CSF

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

D3Feat

[TensorFlow] Official implementation of CVPR'20 oral paper - D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features https://arxiv.org/abs/2003.03164

direct_lidar_odometry

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds

dsl

Implementation of Monocular Direct Sparse Localization in a Prior 3D Surfel Map (DSL)

ERASOR

Official page of ERASOR (RA-L'21 with ICRA'21)

evo

Python package for the evaluation of odometry and SLAM

libpointmatcher

An "Iterative Closest Point" library for 2-D/3-D mapping in Robotics

linefit_ground_segmentation

Ground Segmentation

LIO-SAM

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

LVI-SAM

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

mola

A Modular Optimization framework for Localization and mApping (MOLA)

mrpt_navigation

ROS nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc.

MVision

机器人视觉 移动机器人 VS-SLAM ORB-SLAM2 深度学习目标检测 yolov3 行为检测 opencv PCL 机器学习 无人驾驶

overlap_localization

chen2020iros: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

OverlapNet

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

Pointnet_Pointnet2_pytorch

PointNet and PointNet++ implemented by pytorch (pure python) and on ModelNet, ShapeNet and S3DIS.

scancontext

Global LiDAR descriptor for place recognition and long-term localization

semantic_suma

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

TEASER-plusplus

A fast and robust point cloud registration library

urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

VINS-Fusion

An optimization-based multi-sensor state estimator

VoxelMap

[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry