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.

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City3D

Large-scale LoD2 Building Reconstruction from Airborne LiDAR Point Clouds

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cppbook_companion

C++ Book Companion Repository (With Code Examples and Exercises)

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D-LIOM

Tightly-coupled Direct LiDAR-Inertial Odometry and Mapping Based on Cartographer3D.

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floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM)

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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

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hdl_localization

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

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ICPCUDA

Super fast implementation of ICP in CUDA for compute capable devices 3.5 or higher

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interactive_slam

Interactive Map Correction for 3D Graph SLAM

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kaolin

A PyTorch Library for Accelerating 3D Deep Learning Research

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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.

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livox_camera_calib

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

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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.

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mlcc

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

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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

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niloc

Neural Inertial Localization

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PBACalib

Extrinsic calibration for livox-camera system

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PolyFit

Polygonal Surface Reconstruction from Point Clouds

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potree

WebGL point cloud viewer for large datasets

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range-mcl

Range Image-based LiDAR Localization for Autonomous Vehicles Using Mesh Maps

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rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO

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slam_toolbox

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

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SupContrast

PyTorch implementation of "Supervised Contrastive Learning" (and SimCLR incidentally)

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svox2

Plenoxels: Radiance Fields without Neural Networks, Code release WIP

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TEASER-plusplus

A fast and robust point cloud registration library

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tiers-lidars-dataset

Multi-modal multi-lidar dataset

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torchscale

Transformers at any scale

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velo2cam_calibration

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.

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