Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation

LiDAR pose graph optimization with dynamic object removal.

FAST-LIVO2 with RTK/GNSS-constrained Global Optimization.

Lidar Localization and Mapping

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Support robosense LiDAR including M1, E1R, and Airy

WHU-PCPR: A cross-platform heterogeneous point cloud dataset for place recognition in complex urban scenes

【RA-L 2026】 A Robust and Efficient LiDAR-Inertial Odometry System with a Compact Mapping Strategy.

6D pose estimation using tightly coupled UWB/IMU fusion using filtering method(EKF/ESKF/UKF/LIEKF)

[IJRR'2026] DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registeration

Lidar Localization and Mapping

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

DALI-SLAM: Degeneracy-Aware LiDAR-inertial SLAM with novel distortion correction and accurate multi-constraint pose graph optimization

fast-lio with loop factor and gps factor for back end optimization.

A simplified implementation of FAST_LIO (with Chinese note)

Easy to use tools to create and edit trajectories for the rviz camera.

Livox LiDAR ROS bag format converter from PointCloud2 to CustomMsg

将Fastlio2算法部署在Livox Hap TX上

This ROS package reads pointcloud data from 5 lidars and estimates the position and some attitude information of the clusters.

Multi-LiDAR version of FAST-LIO2: A computationally efficient and robust LiDAR-inertial odometry (LIO) package

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

[NeurIPS 2024] Depth Anything V2. A More Capable Foundation Model for Monocular Depth Estimation

SC-Depth (V1, V2, and V3) for Unsupervised Monocular Depth Estimation Webpage:https://jiawangbian.github.io/sc_depth_pl/

Unofficial implementation of "Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting", ECCV2024.

Official Implementation of Self-Supervised Street Gaussians for Autonomous Driving

Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)

LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS

[ECCV 2024] Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting

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