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urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

AVP-SLAM-PLUS

An implementation of AVP-SLAM and some new contributions

VIW-Fusion

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

webviz

web-based visualization libraries

imgui

Dear ImGui: Bloat-free Graphical User interface for C++ with minimal dependencies

LiDAR-Iris

LiDAR Iris for Loop-Closure Detection(IROS 2020)

Multi_Sensor_Fusion

Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

lidar_gnss_mapping

mapping_dataset_styria

Open mapping dataset of styria in Austria

ntu_viral_dataset

ERASOR

Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21

apollo-platform

Collections of Apollo Platform Software

hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR

map_evaluation_tools

This tool computes the *Mean Map Entropy* and the *Mean Plane Variance* of a point cloud.

lidar-with-velocity

[RAL & IROS 2022] Lidar With Velocity: Correcting Moving Objects Point Cloud Distortion From Oscillating Scanning Lidars by Fusion With Camera

ARTSLAM

MULLS

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA '21]

ssl_slam2

SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021

cam_attr_controller

camera attribute controller

UrbanLoco

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

lcm

Lightweight Communications and Marshalling

plane_detector

Implementation of the fast plane detector as described in the paper "Fast Plane Detection and Polygonalization in noisy 3D Range Images", of Poppinga et al. (IROS 2008)

leveldb

LevelDB is a fast key-value storage library written at Google that provides an ordered mapping from string keys to string values.

ros-system-monitor

System monitoring tools for ROS.

srrg2_slam_interfaces

Plug-and-Play SLAM core repository. Atomic and compound SLAM modules

mve

Multi-View Environment

imaging_lidar_place_recognition

ICRA 2021 - Robust Place Recognition using an Imaging Lidar

VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

LineTR

Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)

Lidar-Segementation

An implementation on "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance" from IROS 2019