gary's repositories
gnss_imu_odom_ESKF
Self-position estimation by eskf by measuring gnss and imu
Cloud_Map_Evaluation
Point cloud map evaluation library for the FusionPortable dataset. Metrics include Mean Map Entropy (MME), RMSE, Accuracy(mean error), Precision(standard deviation), completeness(overlap ratio), chamfer distance and F1-score at all levels of 1/2/5/10/20cm.
ct-lio
CT-LIO: Continuous-Time LiDAR-Inertial Odometry
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_visual_lidar_calibration
A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]
elevation_mapping
Robot-centric elevation mapping for rough terrain navigation
FAST-LIVO-DiffTime
Can run FAST-LIVO with different Image and Lidar time stamp , use iVox instead of ikdtree
Ground-Fusion
Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
hm-lio
A Hash-map based Lidar-Inertial Odometry (A simple reproduction of fastlio 1.0 with Hash-map).
limap
A toolbox for mapping and localization with line features.
liosam_liauto
Achieving relocalization and global real-time localization based on LIO-SAM in point cloud maps
MINS
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
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.
NDTMC
A 3D Global Descriptor For Loop Closure Detection
NDTMC-LIO-SAM
A SLAM method combined with NDTMC and LIO-SAM.
OA-LICalib
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Outram
[ICRA 2024] Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning
products
超核电子产品资料
Segregator
[ICRA 2023] Segregator: Global Point Cloud Registration with Semantic and Geometric Cues
SensorsCalibration
OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
slam_auto_driving
高翔博士的《自动驾驶与机器人中的slam技术》
slam_in_autonomous_driving_change
高博新书《自动驾驶与机器人中的SLAM技术》源码修改版，根据深蓝学院要求，对每一章的代码进行特定修改，以实现不同的功能。
slam_in_autonomous_driving_shenlan_hw
《自动驾驶中的SLAM技术》对应开源代码 1. 添加详细代码注释 2. 添加深蓝第一期课后习题与大作业的修改（若想要原始的激光SLAM定位与建图的效果，请前往高博github拉取最新分支）
slam_karto_ceres
A ROS package for 2-D pose graph SLAM using open karto package for the front-end and Google's Ceres solver for the back-end
stanley_controller_cpp
stanley controller in c++