Robotics_Qi's repositories
Simple-LIO-SAM
Code for simplified LIO-SAM
refusion
ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals
Bonxai
Fast, hierarchical, sparse Voxel Grid
colmap-pcd
Image-to-point cloud Registration Tool
ct-lio
CT-LIO: Continuous-Time LiDAR-Inertial Odometry
CUDA-Programming
Sample codes for my CUDA programming book
cupoch
Robotics with GPU computing
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.
eigen-cuda-example
Example project using Eigen with CUDA
FAST-LIVO
A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
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.
HashNeRF-pytorch
Pure PyTorch Implementation of NVIDIA paper on Instant Training of Neural Graphics primitives: https://nvlabs.github.io/instant-ngp/
MA-LIO
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
nerf_pl
NeRF (Neural Radiance Fields) and NeRF in the Wild using pytorch-lightning
nerfacc
A General NeRF Acceleration Toolbox in PyTorch.
ngp_pl
Instant-ngp in pytorch+cuda trained with pytorch-lightning (high quality with high speed, with only few lines of legible code)
patchwork
SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)
pytorch-cppcuda-tutorial
tutorial for writing custom pytorch cpp+cuda kernel, applied on volume rendering (NeRF)
r3live
A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
RangeNetTrt8
tensorrt8 && cuda && libtorch implementation of rangenet++
SHINE_mapping
🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA' 23)
SLAMesh
A real-time LiDAR simultaneous localization and meshing method. ICRA2023
SphereVLAD
Offical Code of SphereVLAD and SphereVLAD++
TLIO
Tight Learned Inertial Odometry
UrbanNavDataset
UrbanNav:An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
VoxelMapPlus_Public
Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry