Roald Ong's repositories
labview_r2interface
programs used to interface between labview based robots and ros2
cartographer_ros
Provides ROS integration for Cartographer.
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.
direct_lidar_odometry
[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
DLIOM
Direct-LiDAR-Inertial-Odometry-and-Mapping的复现版本
fuse
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
graph_msf
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
Kalman-and-Bayesian-Filters-in-Python
Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filters, and more. All exercises include solutions.
ndt_localizer
A simple, clean NDT licalization ROS package.
ndt_localizer_new
This robot lcoalisation package for lidar-map based localisation using multi-sensor state estimation.
PythonRobotics
Python sample codes for robotics algorithms.
small_gicp
Efficient and parallelized algorithms for point cloud registration [C++, Python]
tf2_2d
2D position, orientation, and transform datatypes that support conversion to and from the tf2 3D datatypes
velo2cam_calibration
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.
velo2cam_gazebo
Repository including Gazebo models, plugins and worlds to test calibration algorithms for Lidar-camera setups.