heyang0105

Graph-Based-Robotic-Loc-Fusion

An factor graph based extensible multi-sensor fusion backend for the localization task and sensors' failure detection

light_weight_stereo_mapper

TOM-a-Tiny-Optimization-Module-for-Robotics-Problems

Wheel-Odom-Assisted-Panoramic-SFM

Traditional incremental SFM is time-consuming for a large scale scene. For that case, we use a heuristic way to accelarate the SFM process. We use a panoramic cameras' rig and the wheel odometry as a combination to achieve the fast reconstruction.