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RMESKF

ESKF for RM 2021 Auto Infantry UWB / /IMU / (Possible) wheel fusion

FAST-LIO-Multi-Sensor-Fusion

Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM

slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

cvui

A (very) simple UI lib built on top of OpenCV drawing primitives

octomap

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

dynablox

Real-time detection of diverse dynamic objects in complex environments.

BeautyMap

[RA-L'24] BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps

DynamicMap_Benchmark

The First Dynamic Map Removal Benchmark: open-sourced all the methods and datasets in papers. Continous updating.

Voxel-SLAM

dufomap

[RA-L'24] DUFOMap: Efficient Dynamic Awareness Mapping

PALoc

[TMECH'2024] Official codes of the paper. PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation

LOG-LIO2

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

MS-Mapping

MS-Mapping: Multi-session LiDAR Mapping with Wasserstein-based Keyframe Selection and Balanced Pose Graph

FAST-LIVO2

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

DPGO

Official Implementation of "Majorization Minimization Methods for Distributed Pose Graph Optimization"

vbr-devkit

Visual Benchmark in Rome Development Kit

BotanicGarden

BotanicGarden: A high-quality dataset for robot navigation in unstructured natural environments

btc_descriptor

awesome-lidar-place-recognition

A curated list of Place Recognition methods, datasets, and various algorithms for LiDAR

LOG-LIO

A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

nv_lio

LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments

hc_lio

Repository for 3D localization and mapping of multi-agricultural scenes via a hierarchically-coupled LiDAR-Inertial Odometry

SLAM_In_Dynamic_Environments_Survey

A thorough survey of SLAM in dynamic environments: covering topics of front-end odometry / loop-clousre / mapping, single-session / long-term, visual / lidar, classic architechture / 3D Gaussian Slpatting, based on a solid foundation of more than 300 papers over last 40 years.

Monlanemapping_C_version

awesome

😎 Awesome lists about all kinds of interesting topics

awesome-point-cloud-place-recognition

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

iG-LIO_SAM_LC

iG-LIO with Loop Closure(PGO) and Online Re-Localize

LIO-SAM-GPU-ScanToMapOpt

A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search.

rosbag2_editor

GUI for easy rosbag editing in ROS2.

The-Art-of-Linear-Algebra

Graphic notes on Gilbert Strang's "Linear Algebra for Everyone"