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octomap

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

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

dynablox

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

FAST-LIVO2

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

DynamicMap_Benchmark

The First Dynamic Map Removal Benchmark: open-sourced all the methods and datasets in papers. | Included 8 SOTA methods | Continous updating

glim

GLIM: versatile and extensible range-based 3D localization and mapping framework

BotanicGarden

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

nv_lio

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

btc_descriptor

Voxel-SLAM

LOG-LIO

A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

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

RoadLib

A lightweight library for instance-level visual road marking extraction, parameterization, mapping, etc.

LOG-LIO2

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

FAST-LIO-Multi-Sensor-Fusion

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

awesome-lidar-place-recognition

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

MS-Mapping

MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

dynamic_lio

A LiDAR-inertial odometry for dynamic environments.

BeautyMap

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

imesa

[RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping

Monlanemapping_C_version

hc_lio

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

MS-Dataset

Large scale LiDAR-IMU dataset

vbr-devkit

Visual Benchmark in Rome Development Kit

RMP

[ITSC'23] Implementation of "RMP: A Random Mask Pretrain Framework for Motion Prediction"

DPGO

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

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.

RMESKF

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