gangma2610's repositories
3DLineDetection
A simple and efficient 3D line detection algorithm for large scale unorganized point cloud
BUFFER
[CVPR 2023] BUFFER: Balancing Accuracy, Efficiency, and Generalizability in Point Cloud Registration
colmap-pcd
Image-to-point cloud Registration Tool
GeoTransformer
[CVPR2022] Geometric Transformer for Fast and Robust Point Cloud Registration
GlobalSfMpy
[CVPR 2023] "Revisiting Rotation Averaging: Uncertainties and Robust Losses" by Ganlin Zhang, Viktor Larsson and Daniel Barath
graph-cut-ransac
The Graph-Cut RANSAC algorithm proposed in paper: Daniel Barath and Jiri Matas; Graph-Cut RANSAC, Conference on Computer Vision and Pattern Recognition, 2018. It is available at http://openaccess.thecvf.com/content_cvpr_2018/papers/Barath_Graph-Cut_RANSAC_CVPR_2018_paper.pdf
HL-MRF
[ ISPRS ] Hierarchical Loop-based Multiview Registration Framework
kiss-icp
KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done in the Right Way https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
LCDNet
PyTorch code for training LCDNet for loop closure detection in LiDAR SLAM. http://rl.uni-freiburg.de/research/lidar-slam-lc
LeGO-LOAM
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
limap
A toolbox for mapping and localization with line features.
Pagor
Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)
PythonRobotics
Python sample codes for robotics algorithms.
QME
Quintessential Matrix Estimation
Quatro
Fast and robust global registration for terrestrial robots @ ICRA2022
RansacLib
Template-based implementation of RANSAC and its variants in C++
RoReg
[TPAMI 2023] RoReg: Pairwise Point Cloud Registration with Oriented Descriptors and Local Rotations
SGHR
[CVPR 2023] Robust Multiview Point Cloud Registration with Reliable Pose Graph Initialization and History Reweighting
Structure-PLP-SLAM
[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
transformer_task_planner
Code for Transformers are Adaptable Task Planners, CoRL 2022
TRAVEL
Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans
UnseenObjectClustering
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
uoais
Codes of paper "Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling", ICRA 2022
VoxelMap
[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry