SLAM
A collection of GICP-based fast point cloud registration algorithms
nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees
[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
Fast and robust global registration for terrestrial robots @ ICRA2022
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
A fast and robust point cloud registration library
[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking
OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion
[ICCV2023] NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping
Learning-based localizability estimation for robust LiDAR localization.
Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22
ImMesh: An Immediate LiDAR Localization and Meshing Framework
Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
A simple localization framework that can re-localize in built maps based on FAST-LIO.
[IROS 2024] A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency
[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.
Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry
A probabilistic voxelmap-based LiDAR-Inertial Odometry.
ICRA2023, A real-time LiDAR simultaneous localization and meshing method.
[ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023
robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
ORORA: Outlier-robust radar odometry, which is accepted in ICRA'23