guorun198959,gary,github

2d-slam-by-nonlinear-optimization

基于非线性优化的2Dslam仿真，实践前端数据关联，滑动窗口法，LM优化，FEJ。

2d_reflector_localization_algorithm

use pre-defined reflector distribution to locate robot to world coordinate with 2D-Lidar

2dscanmatching_slam

Set of algorithms for 2D scan matching. Comparison of the state of the art.

3d_slam_tools

Tools to work along side with LOAM 3D lidar slam and Octomaping

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

3dunderworld-sls-gpu_cpu

A structured light scanner

a-loam

Advanced implementation of LOAM

a-star-algorithm

C++实现的高效A*算法

abb_ros-i_integration

thesis project: the communications between ROS-I and RobotStudio

abseil-cpp

Abseil Common Libraries (C++)

accurate_docking

Package that contains an script to make a better docking approach

active-slam-with-cartographer

This work contains a modified version of cartographer_frontier_detection and rrt_exploration. We implement an active exploration process and improve its robustness and performance. More details are described in the paper "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration" (IROS2020).

adaptive-lidar-tracking

Tracking MAVs from ground robots with adaptive lidar scan integration

adaptive_clustering

Lightweight and Accurate Point Cloud Clustering

agvs

ROS package for the robot AGVS, intended for indoor transportation tasks

aicp_mapping

Auto-tuned Iterative Closest Point -- AICP -- Public

algorithm_interview_notes-chinese

2018/2019/校招/春招/秋招/算法/机器学习(Machine Learning)/深度学习(Deep Learning)/自然语言处理(NLP)/C/C++/Python/面试笔记

algorithms-explanation

All Algorithms explained in simple English Language with example and links to their implementation in various programming languages and other required resources.

als_ros

An advanced localization system for ROS use.

altitude_filtering

An implementation of an EKF based multi-sensor fusion algorithm, used for accurate flight altitude estimation of UAVs. Fusing the IMU, laser altimeter and barometer.