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3d-registration-with-maximal-cliques

Source code of CVPR 2023 paper

erasor

Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21

extrinsic_lidar_camera_calibration

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

fast_bilateral_space_stereo

A naïve implementation of the Fast Bilateral-Space Stereo method from the Fast Bilateral-Space Stereo for Synthetic Defocus paper by Jon Barron.

fast_gicp

A collection of GICP-based fast point cloud registration algorithms

graph-cut-ransac

The Graph-Cut RANSAC algorithm proposed in paper: Daniel Barath and Jiri Matas; Graph-Cut RANSAC, Conference on Computer Vision and Pattern Recognition, 2018. It is available at http://openaccess.thecvf.com/content_cvpr_2018/papers/Barath_Graph-Cut_RANSAC_CVPR_2018_paper.pdf

gril-calib

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

ilcc

Intensity-based_Lidar_Camera_Calibration

imu_gps_localization

Using error-state Kalman filter to fuse the IMU and GPS data for localization.

kalmanfilter

This is a Kalman filter used to calculate the angle, rate and bias from from the input of an accelerometer/magnetometer and a gyroscope.

ladybugecalib

LadybugCalib实现导出ladybug全景相机内参(等距投影+畸变参数)的功能。服务于pano-slam系统。

lihang_book_algorithm

致力于将李航博士《统计学习方法》一书中所有算法实现一遍

mahalanobis_3d_multi_object_tracking

msckf_tutorial

multi_chessboard_corner_extraction

用C++编写的多棋盘格角点提取算法

notes

orb-slam2_rgbd_dense_map

This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.

orb_slam3_detailed_comments

Detailed comments for ORB-SLAM3

patchmatchstereo

PatchMatchStereo，倾斜窗口经典，效果极佳，OpenMVS&Colmap稠密匹配算法。完整实现，代码规范，注释清晰，博客教学，欢迎star！

patchwork-plusplus

Patchwork++: Fast and robust ground segmentation method for 3D point cloud. @ IROS'22

robustpca

Robust PCA implementation and examples (Matlab)

slam-14

learning SLAM,curse,paper and others

tartancalib

TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags

teaser-plusplus

A fast and robust point cloud registration library

testicp

A variety of ICP algorithm implementation, can be used to do comparative testing. Include ICP_CERES, ICP_G2O,ICP_SVD etc.

vins-mono-code-annotation

VINS-Mono代码注释以及公式推导

yolact_ros

ROS wrapper for yolact instance segmentation