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《自动驾驶中的SLAM技术》对应开源代码

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A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

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This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.

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OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

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A Modular Framework for LiDAR-based Lifelong Mapping

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MIT4800

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

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[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry

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LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

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LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

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aloam

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Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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A Robust and Versatile Monocular Visual-Inertial State Estimator

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A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

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A computationally efficient and robust LiDAR-inertial odometry (LIO) package

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