Continuous-time lidar, radar, lidar-inertial, and radar-inertial odometry

This is the official repo of the project gnssFGO.

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

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation

Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM

Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

[RA-L 2023] Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline

RGB-L: An Extension to Integrate LiDAR Data into ORB-SLAM3

3D LIDAR-based Graph SLAM

This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.

[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.

Pure Library implementation of LiDAR Odometry and Mapping [LOAM]

LIO_SAM for 6-axis IMU and GNSS.

[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM.

Provides ROS integration for Cartographer.

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Provides ROS integration for Cartographer.

A system for building 3D Scene Graphs from sensor data in real-time

ROS wrapper for Kimera-VIO

Python implementation of a loosely coupled GNSS/IMU sensor fusion based on Matlab code from Paul Groves

This reposiotry is the collection for public 3D LiDAR datasets

An experimental GPSDO using an STM32 MCU and a u-blox Neo-M8 GNSS module.

This repository shows how to implement a simple PLL and a Frequency Meter using Arduino Uno.

provides external exposure control for ros2 cameras

An Open Versatile Multi-Camera Visual-Inertial Sensor Suite