Lidar Localization and Mapping

Release repo for our SLAM Handbook

Official implementation of "Decentralization and Acceleration Enables Large-Scale Bundle Adjustment"

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

从小白的视角去分析多源融合SLAM的SOTA框架

a normal vector-based multi-session LiDAR SLAM system tailored for indoor environments

Implementation of my article "A Robust Statistics Approach for Plane Detection in Unorganized Point Clouds"

Persistence Analysis of Multi-scale Planar Structure Graph in Point Clouds

converts image sequence in ros bag files to video files

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

Beyond Pure Geometry: An Uncertainty-Driven Perspective on Long-Term LiDAR Localization

A highly robust and accurate LiDAR-only, LiDAR-inertial odometry

A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.

Python binding of SLAM graph optimization framework g2o

A LiDAR SLAM system that just works

code to calibrate the internal parameters of spinning lidar sensors

[IEEE IROS'25] LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System

graph-theoretic framework for robust pairwise data association

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

标定 多线/单线激光雷达 和 旋转电机

A large scale non-linear optimization library

An Open Hardware Time Syncronization Sensor Suite

SLAM Paper that I have read and commented

A resource repository for 3D machine learning

GLOMAP - Global Structured-from-Motion Revisited