ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

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

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

Object (e.g Pedestrian, vehicles) tracking by Extended Kalman Filter (EKF), with fused data from both lidar and radar sensors.

A 3D point cloud descriptor for place recognition

LiDAR SLAM = FAST-LIO + Scan Context

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

A simplified implementation of FAST_LIO (with Chinese note)

automatic calibration of 3D lidar and IMU extrinsics

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

An ongoing implementation ros node on `fast segmentation of 3d point clouds: a paradigm`...

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated in…

[RA-L 2023] Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline

Optimized ORBSLAM3 to run on TUM/EuRoc/KITTI dataset

LVI-SAM for easier using (更简单的使用LVI-SAM的方法)

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

ROS/ROS 2 package for Ultralytics YOLOv8 real-time object detection and segmentation. https://github.com/ultralytics/ultralytics

Multi-modal multi-lidar dataset

Semantic Scan Context

A real-time, robust LiDAR-inertial localization system

A ros tool for converting Robosense pointcloud to Velodyne pointcloud format.

Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment RA-L 2021

This project is used for lidar point cloud undistortion.

Fast Implementation of DBSCAN using Kdtree for acceleration. The example is clustering point cloud(PCL library used).

FAST-LIO 2 with VoxelMapPlus and STD