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balm

An efficient and consistent bundle adjustment for lidar mapping

calibration_kit

depix

Recovers passwords from pixelized screenshots

direct_visual_lidar_calibration

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

fast_gicp

A collection of GICP-based fast point cloud registration algorithms

free-programming-books-zh_cn

:books: 免费的计算机编程类中文书籍，欢迎投稿

fusion-based-perception

EKF-based late fusion

graph_msf

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

hba

hezhp.github.io

lidar-segementation

An implementation on "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance" from IROS 2019

lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

lidar_depth_calibration

lidar and depth camera calibration

lins---lidar-inertial-slam

A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter

lio-livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR

lio-sam

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

lio-sam-detailednote

LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS

lio-sam_based_relocalization

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.

livox_camera_calib

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

livox_camera_lidar_calibration

Calibrate the extrinsic parameters between Livox LiDAR and camera

load_rosbag_data

load data from rosbag

localization_in_auto_driving

lt-mapper

A Modular Framework for LiDAR-based Lifelong Mapping

lvi-sam

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

m2dgr

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots

model_matching_tracking

model matching and tracking

odometry_saver

pcd_2_gridmap

transfrom .pcd file to ros grid map

quatro

Fast and robust global registration for terrestrial robots @ ICRA2022

r2live

R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.