XIANG CHEN(Richard)'s repositories
Block-Map-Based-Localization
A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps
boustrophedon_planner
Coverage path planner
D-LIOM
Tightly-coupled Direct LiDAR-Inertial Odometry and Mapping Based on Cartographer3D.
dpgo
Distributed Pose Graph Optimization
evo
Python package for the evaluation of odometry and SLAM
Hydra-GNN
Room classification network training and inference code
Hydra-ROS
Hydra ROS Interface
Kimera-Multi
Index repo for Kimera-Multi system
Kimera-Multi-Data
A large-scale multi-robot dataset for multi-robot SLAM
Kimera-RPGO
Robust Pose Graph Optimization
Kimera-Semantics
Real-Time 3D Semantic Reconstruction from 2D data
Kimera-VIO
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
Kimera-VIO-Evaluation
Code to automatically evaluate and tune parameters for Kimera-VIO pipeline.
Kimera-VIO-ROS
ROS wrapper for Kimera-VIO
MA-LIO
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
mesh_navigation
Mesh Navigation Stack
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
ntrip_client
ROS NTRIP client
ORB_SLAM3_MULTI
The official repository of our ICRA 2024 paper "MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration".
Patch-NetVLAD
Code for the CVPR2021 paper "Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition"
rmcl
Mobile Robot Localization in 3D Triangle Meshes
SchurVINS_ws
Schurvins on Ubuntu20.04 & ROS Noetic
Spark-DSG
Scene Graph API (C++ and Python)