TurtleZhong

LVIO-SAM

A Multi-sensor Fusion Odometry via Smoothing and Mapping.

Gazebo-models-generator

A tool using to generate Gazebo models from 3D models.(Sketchup files, *.dae, *.obj, *.stl, etc.)

LIO-SEGMOT

LiDAR-Inertial Odometry via Simultaneous Ego-motion Estimation and Multiple Object Tracking (ICRA 2023)

SurroundCameraCalib

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.

plane_seg

Plane Segmentation Utilites

apollo

An open autonomous driving platform

colmap--Important-code-is-to-parse-line-by-line

教你一点点掌握视觉三维重建-colmap 重要代码逐行解析(本人利用下班和周末时间update,so 速度会慢)

gazebo_terrain

Terrain model generator for Gazebo

LIMO-Velo

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

lvio_fusion

Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)

nerf_pl

NeRF (Neural Radiance Fields) and NeRF in the Wild using pytorch-lightning

UrbanNavDataset

UrbanNav:An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas

Vehicle-CV-ADAS

The project can achieve FCWS, LDWS, and LKAS functions solely using only visual sensors. using YOLOv5 / YOLOv5-lite / YOLOv8 and Ultra-Fast-Lane-Detection-v2 .

allan_variance_ros

ROS compatible tool to generate Allan Deviation plots

DABA

Official implementation of "Decentralization and Acceleration Enables Large-Scale Bundle Adjustment"

direct_lidar_odometry

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds

DNMP

sync

elevation_mapping_cupy

Elevation Mapping on GPU.

FAST-LIVO

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

gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments

graph_msf

Learn-Vim_zh_cn

nekoray

Qt based cross-platform GUI proxy configuration manager (backend: v2ray / sing-box)

ov_hloc

using hloc for loop closure in SLAM

r2live

R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.

raw-gnss-fusion

Code, data, and results for fusing raw GNSS data with other sensing modalities

ros2_cookbook

Code snippets for ROS2

sfm-disambiguation-colmap

Making Structure-from-Motion (COLMAP) more robust to symmetries and duplicated structures

subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.