LIHU577

LIO-EKF

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

STD

A 3D point cloud descriptor for place recognition

cam_lidar_calib

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

laser_line_extraction

A ROS package that extracts line segments from LaserScan messages.

lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

BEVFormer

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

ControlNet

Let us control diffusion models!

tiers-lidars-dataset

Multi-modal multi-lidar dataset

lidar_camera_calibration

Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization)

segment-anything-2

The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.

Modern-CPP-Programming

Modern C++ Programming Course (C++03/11/14/17/20/23/26)

PL-VIO

monocular visual inertial system with point and line features

Structure-SLAM-PointLine

This is a basic point-line SLAM system based on ORBSLAM2.

ndt_omp

Multi-threaded and SSE friendly NDT algorithm

livox_camera_calib

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

adaptive_clustering

[ROS package] Lightweight and Accurate Point Cloud Clustering

hierarchical-3d-gaussians

C-Plus-Plus

Collection of various algorithms in mathematics, machine learning, computer science and physics implemented in C++ for educational purposes.

velo2cam_calibration

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.

vision-based-robotic-grasping

Related papers and codes for vision-based robotic grasping

btc_descriptor

6-PACK

"6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints" code repository

loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

apriltag

AprilTag is a visual fiducial system popular for robotics research.

MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.

rio

Graph-based, sparse radar-inertial odometry estimation

slict

mediamtx

Ready-to-use SRT / WebRTC / RTSP / RTMP / LL-HLS media server and media proxy that allows to read, publish, proxy, record and playback video and audio streams.

icp

C++ implementation of 3-dimensional ICP (Iterative Closest Point) method.