Soohwan Kim's repositories
cartographer
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
City3D
Large-scale LoD2 Building Reconstruction from Airborne LiDAR Point Clouds
cppbook_companion
C++ Book Companion Repository (With Code Examples and Exercises)
floam
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM)
fsm_lidom_ros
ROS1 package that provides lidar odometry from panoramic 2D range scans. Method: scan-matching without using correspondences, based on properties of the Discrete Fourier Transform
hdl_localization
Real-time 3D localization using a (velodyne) 3D LIDAR
ICPCUDA
Super fast implementation of ICP in CUDA for compute capable devices 3.5 or higher
interactive_slam
Interactive Map Correction for 3D Graph SLAM
kalibr
The Kalibr calibration toolbox
kaolin
A PyTorch Library for Accelerating 3D Deep Learning Research
LiCaS3
[T-RO 2022] Official Implementation for "LiCaS3: A Simple LiDAR–Camera Self-Supervised Synchronization Method," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2022.3167455.
livox_camera_calib
This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.
mcl_3dl
A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
mlcc
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
NeRF-SLAM
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276
PBACalib
Extrinsic calibration for livox-camera system
PolyFit
Polygonal Surface Reconstruction from Point Clouds
potree
WebGL point cloud viewer for large datasets
range-mcl
Range Image-based LiDAR Localization for Autonomous Vehicles Using Mesh Maps
rpg_trajectory_evaluation
Toolbox for quantitative trajectory evaluation of VO/VIO
slam_toolbox
Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
SLAMesh
🔥The official implementation of SLAMesh.
SupContrast
PyTorch implementation of "Supervised Contrastive Learning" (and SimCLR incidentally)
svox2
Plenoxels: Radiance Fields without Neural Networks, Code release WIP
tiers-lidars-dataset
Multi-modal multi-lidar dataset
torchscale
Transformers at any scale
velo2cam_calibration
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.