An optimization-based multi-sensor state estimator

An open source platform for visual-inertial navigation research.

A ROS package tool to analyze the IMU performance.

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

This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

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

support deepsort and bytetrack MOT(Multi-object tracking) using yolov5 with C++

Interactive Map Correction for 3D Graph SLAM

Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

误差状态卡尔曼ESKF滤波器融合GPS和IMU，实现更高精度的定位

A real-time multifunctional Lidar SLAM package.

A simplified implementation of FAST_LIO (with Chinese note)

ImMesh: An Immediate LiDAR Localization and Meshing Framework

LiDAR SLAM = FAST-LIO + Scan Context

[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry

Display internet satellite imagery in RViz

Postgraduate Thesis: fast_lio_sam + dynamic removal (T-GRS 2024) + multi-session mapping (ICRA 2022 Kim) + object-level update + online relocalization (ICRA 2025) + real-world application (MD-LVIO)

C++/Python Sparse Volumetric TSDF Fusion

Basic Kalman filter implementation in C++ using Eigen

[RAL 2023] A globally consistent LiDAR map optimization module

This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.

A computationally efficient and convenient toolkit of iterated Kalman filter.

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

Modular ROS visualization tool for 2D data.

ROS2 / FAST_LIO / PGO / Online Re-Localization / Consistent Map with BA or HBA

🔥3D-MOT(点云多目标检测和追踪C++) （2020 · 秋） 代码有详细注解