柒者's repositories
BALM
An efficient and consistent bundle adjustment for lidar mapping
ceres-solver
A large scale non-linear optimization library
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.
ESKF_LIO
IESKF-LIO reference to fast_lio1.0(参考fast-lio早期版本，复现的fast-lio2)
FAST-LIVO
A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
FAST_LIO
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
g2o
g2o: A General Framework for Graph Optimization
evo
Python package for the evaluation of odometry and SLAM
fast_gicp
A collection of GICP-based fast point cloud registration algorithms
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
[RAL 2023] A globally consistent LiDAR map optimization module
ig_lio
iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry
KF-GINS
An EKF-Based GNSS/INS Integrated Navigation System
lidar-slam-detection
LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic
Livox-Mapping
An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR
maplab
A Modular and Multi-Modal Mapping Framework
mlcc
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
ndt_omp
Multi-threaded and SSE friendly NDT algorithm
ORB_SLAM2
Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
PSINS
PSINS_20230923
rtabmap
RTAB-Map library and standalone application
rtabmap_ros
RTAB-Map's ROS package.
S-FAST_LIO
A simplified implementation of FAST_LIO (with Chinese note)
SensorsCalibration
OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
slam_in_autonomous_driving
《自动驾驶中的SLAM技术》对应开源代码
slambook2
edition 2 of the slambook
SLAMTools
Bag process and evalutaion tools for SLAM research
small_gicp
Efficient and parallel algorithms for point cloud registration [C++, Python]
VINS-Mono
A Robust and Versatile Monocular Visual-Inertial State Estimator