Stars
完全可理解的VINS-Fusion：1.代码风格重构、2.全量靠谱注释、3.代码即文档、4.忠实于原代码；5.ROS解耦、6.状态量可视化、7.日志系统。
Dataset with detailed annotated glass depth maps in indoor scenes.
Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
A feed-forward 3D foundation model for reconstructing scenes from streaming data
BehaviorTree.CPP utilities to work with ROS2
cuVSLAM: CUDA-Accelerated Visual Odometry and Mapping
An EKF-Based GNSS/INS Integrated Navigation System
GNSS/INS/Camera Integrated Navigation Library
OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes
动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
Ground-Fusion++: a modular sensor-fusion SLAM system(IROS2025)
Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry (IROS2025)
Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
使用 Mid360 激光雷达完成 Fast-LIO2 里程计 + Ego-Planner 规划算法
[RA-L 2025 Accept without Revision] A stereo visual-inertial odometry system based on voxel map
A Super Tightly Coupled Visual-Inertial State Estimator
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
VINS-Fusion ported to ROS 2 Humble with RealSense D435i support
Code for IROS 2022 work "Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation"
A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
An optimization-based multi-sensor state estimator