ulterzlw

RING

[IEEE T-RO 2023] Source code of RING and RING++ for loop closure detection in LiDAR SLAM.

SLAMTools

Bag process and evalutaion tools for SLAM research

tex2svg

rosbag_editor

Create a rosbag from a given one, using a simple GUI

kitti2bag

Convert KITTI dataset to ROS bag file the easy way! The fork supports parse the point cloud for odometry

gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

rviz_satellite

Display internet satellite imagery in RViz

icp_ceres

calculate transformation between points using ceres with analytical cost function

warehouse-pick-up-allocation

gazebo_spinning_velodyne

FACSN

kitti2map

switchable_constraints

ceres implementation of switchable constraints for robust pose graph slam

parse_carla_velodyne

make pointcloud more velodyne way