Method to add Lidar based loop detections to Graph based SLAM

A Modular and Multi-Modal Mapping Framework

SLAM-Former: Putting SLAM into One Transformer

这是我的硕士毕业论文的框架

Create color point clouds with ROS2

[ICRA 2024] SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation

我的导航算法学习笔记，内容涵盖导航定位开源程序的源码解读、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；所有内容都可以随意转载，原始文件都放在这里了，大家可以在我的基础上整理出自己的一些文档。（Tips：①主要是写给初学者，已经有基础的同学应该多看论文和代码，看我的笔记学不到啥；②仓库持续更新中，不建议 fork）

A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…

An open source platform for visual-inertial navigation research specialized for autonomous vehicles using speed and steering measurements.

An open source platform for visual-inertial navigation research.

This is a specific verision of VINS-Fusion that supports RGB-D sensors. 一种可支持RGB-D传感器的VINS-Fusion算法。

A virtual simulation platform for autonomous vehicle sensing, mapping, control and behaviour methods using ROS 2 and Gazebo.

ROS/ ROS 2 Gazebo quadcopter simulator.

The world's first roller coaster SLAM dataset

An open source platform for visual-inertial navigation research.

[TUD AE4270] SuperPoint & SuperGlue on OpenVINS

Efficient and parallel algorithms for point cloud registration [C++, Python]

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

[NeurIPS'2023 Spotlight]: Differentiable Registration of Images and LiDAR Point Clouds with VoxelPoint-to-Pixel Matching

ROS2-ORB-SLAM3-Odometry — A ROS 2 wrapper for ORB-SLAM3 that publishes real-time odometry and TF from mono, stereo, RGB-D, and stereo-inertial cameras (e.g., RealSense D435). Uses the pre-built ORB…

This repository provides a synchronized stereo matching pipeline using OAK cameras, generating RGB-D images with disparity-based depth and integrated IMU data. The output is fully compatible with R…

This is the RGB-D version of DM-VIO.

Dataset for RA-L 2025 paper “The More The Better? Confidence-Driven Residual Weighting and Depth Fusion for Multi-RGB-D Inertial Odometry” - synchronized 4-camera RGB-D + IMU sequences.

A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.