lucianzhong

maptracker

Code for paper "MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping", ECCV 2024

fast_voxel_traversal

Fast and simple voxel traversal algorithm through a 3D space partition.

velodyne_height_map_occupancy_map

ROS obstacle detection for 3D point clouds using a height map algorithm.

Self-driving-vehicle

Simulation of path planning for self-driving vehicles in Unity. This is also an implementation of the Hybrid A* pathfinding algorithm which is useful if you are interested in pathfinding for vehicles.

4dNDF

3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation (CVPR 2024)

pgm_map_creator

Create pgm map from Gazebo world file for ROS localization. Tested on Ubuntu 20.04, ROS Noetic, Boost 1.71，Gazebo 11

Survey-Autonomous-Driving-in-Unstructured-Environments

Awesome papers about Autonomous Driving in Unstructured Outdoor Environmments

Hybrid_A_Star

Hybrid A Star algorithm C++ implementation

CppRobotics

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control

map_manager

3D Mapping Library for Autonomous Robots (C++/ROS)

formula_student_packages

ROS2 package for formula student sensors

tianbot_mini

TianbotMini ROS移动机器人学习平台，10分钟跑通机器人SLAM应用，自主导航尽在掌心之中。

robot_gazebo

A scout2 robot carrying RS16 lidar/IMU/D435 sensors，running LIO-SAM in a room!

P-MapNet

liosam_liauto

Achieving relocalization and global real-time localization based on LIO-SAM in point cloud maps

LIO-SAM-MID360

FAST-LIO-SAM-QN

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP

sr_lio

[IROS 2024] A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency

awesome-cuda-and-hpc

🔥🔥🔥 A collection of some awesome public CUDA, cuBLAS, TensorRT and High Performance Computing (HPC) projects.

TRAVEL

Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

HEDNet

HEDNet (NeurIPS 2023) & SAFDNet (CVPR 2024 Oral)

adaptive_clustering

[ROS package] Lightweight and Accurate Point Cloud Clustering

FAST-LIO-Multi-Sensor-Fusion

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

frigate

NVR with realtime local object detection for IP cameras

MA-LIO

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation

toolkit

Is Your HD Map Constructor Reliable under Sensor Corruptions?

PTT

[CVPR2024] PTT: Point-Trajectory Transformer for Efficient Temporal 3D Object Detection

offline-tracking-with-object-permanence

The open source implementation of 'Offline Tracking with Object Permanence', which aims to recover the occluded vehicle trajectories and reduce the identity switches caused by occlusions.

kalman_filter_localization

kalmal filter localization

tdmpc2

Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"