Stars
A collection of GICP-based fast point cloud registration algorithms
A lean C++ library for working with point cloud data
[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
[Siggraph Asia 2013] Large-Scale, Real-Time 3D Reconstruction
A CUDA implementation of Bundle Adjustment
Code for integrating, raytracing, and meshing a TSDF on the CPU
TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction
这是一个基于CUDA加速的快速立体匹配库，它的核心是SemiglobalMatching（SGM）算法，它不仅在时间效率上要远远优于基于CPU的常规SGM，而且占用明显更少的内存，这意味着它不仅可以在较低分辨率（百万级）图像上达到实时的帧率，且完全具备处理千万级甚至更高量级图像的能力。
[ICRA 2025] AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information forRobust Odometry in Challenging Environments