Kyriema

Kyriema's starred repositories

NeRF-SLAM

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276

Language:PythonBSD-2-Clause1155 27 67

pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.

Language:C++GPL-3.0731 38 46

Map-based-Visual-Localization

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

MIT717 36 2

sensor-fusion-for-localization-and-mapping

深蓝学院多传感器定位融合第四期学习笔记

Language:C++655 13 4

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.

Language:C++MIT533 14 51

liw_oam

[IROS 2023] A LiDAR-inertial-wheel odometry and mapping system based on BA framework.

Language:C++GPL-2.0509 34 18

minisam

A general and flexible factor graph non-linear least square optimization framework

Language:C++BSD-3-Clause471 28 34

extrinsic_lidar_camera_calibration

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

Language:MATLABAGPL-3.0357 15 17

COLMAP_SLAM

Visual-SLAM based on COLMAP API

Language:PythonMIT240 15 7

R-VIO2

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

Language:C++GPL-3.0226 12 8

rp-vio

[IROS-21] RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments (Code & Dataset)

Language:C++GPL-3.0207 9 24

LIO-EKF

Maybe the simplest LiDAR-inertial odometry that one can have.

Language:C++MIT122 20 4

SLAM_Code_Learning

为做NeRF-based SLAM毕设所读过的开源代码，尽量做到行行有注释。

Language:Python81 3 2

MSCEqF

A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation

Language:C++NOASSERTION79 3 5

beam_slam

Tightly coupled lidar-visual-inertial slam using the fuse framework

Language:C++77 6 33

SLAMBox

Education, research and development using the Simultaneous Localization and Mapping (SLAM) method.

Language:PythonMIT76 80

IMUNet

Language:Python66 1 4

IMUDB

[RA-L 2023] Official Pytorch-Lightning Implementation for "A Simple Self-Supervised IMU Denoising Method For Inertial Aided Navigation", in IEEE Robotics and Automation Letters, 2023

Language:PythonMIT49 40