Vision3D: A 3D Vision Library built with PyTorch

Python sample codes and textbook for robotics algorithms.

Template-based implementation of RANSAC and its variants in C++

[CVPR 2023] Robust Multiview Point Cloud Registration with Reliable Pose Graph Initialization and History Reweighting

PyTorch code for training LCDNet for loop closure detection in LiDAR SLAM. http://rl.uni-freiburg.de/research/lidar-slam-lc

[CVPR 2023] "Revisiting Rotation Averaging: Uncertainties and Robust Losses" by Ganlin Zhang, Viktor Larsson and Daniel Barath

Image-to-point cloud Registration Tool

[ICCV2023]RegFormer: An Efficient Projection-Aware Transformer Network for Large-Scale Point Cloud Registration

A benchmark for point clouds registration algorithms

[ ISPRS ] Hierarchical Loop-based Multiview Registration Framework

A 3D point cloud registration and localization method based on voxel plane features

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

Codes of paper "Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling", ICRA 2022

A toolbox for mapping and localization with line features.

the code for generating REGRAD dataset

SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration (CVPR 2022)

The MAGSAC algorithm for robust model fitting without using an inlier-outlier threshold

The Graph-Cut RANSAC algorithm proposed in paper: Daniel Barath and Jiri Matas; Graph-Cut RANSAC, Conference on Computer Vision and Pattern Recognition, 2018. It is available at http://openaccess.t…

ARCS: Accurate Rotation and Correspondence Search

a functional representation for graph matching

blender python scripts

Scaling Up Subgraph Query Processing with Efficient Subgraph Matching by Shixuan Sun and Dr. Qiong Luo

In-Memory Subgraph Matching: An In-depth Study by Dr. Shixuan Sun and Prof. Qiong Luo

[TPAMI] GROR:A New Outlier Removal Strategy Based on Reliability of Correspondence Graph for Fast Point Cloud Registration