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lidarroadboundarydetection

An speed and accuracy tradeoff method for LiDAR-based road boundary detection method in structured environments

lidar_align

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

lidar_imu_localization

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

lidar_simulator

Gazebo simulation models for different LiDAR sensors (Velodyne, Ouster, ...)

lidar_undistortion

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

maplite

Localising UGV using wheel odometry, IMU, LiDAR and sparse topometric map

mesh_navigation

Mesh Navigation Stack

mesh_to_grid_map

A node which converts incoming meshes to grid maps and publishes them.

monocular_person_following

Monocular camera-based person tracking and identification ROS framework for person following robots

mpc-implementation

This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️ ✈️

mrca_vc

Multi-robot collision avoidance using buffered uncertainty-aware Voronoi cells

multi-object-tracking

A fast object tracking method by using JPDA-IMM-UKF.

multiple-object-tracking-lidar

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

mutisensorfusion

多传感器融合定位模块,可融合IMU/GNSS/ODOM/LIDAR等传感器数据完成高精度定位,输出位置、速度、姿态等导航结果

nmpc_pc_learning

NMPC codes for tracking the commanded reference trajectory.

obstacle_detector

A ROS package for 2D obstacle detection based on laser range data.

odom_predictor

Integrates an IMU to predict future odometry readings

patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)

perform-slam-on-rough-terrain

How to implement simultaneous localization and mapping (SLAM) for vehicles driving on rough, off-highway terrains. Demonstrated using a recorded ROS bag of lidar and IMU data.

pointcloud_to_laserscan

polygon_coverage_planning

Coverage planning in general polygons with holes.

rast_corridor_planning

reachability-based_trajectory_safeguard

We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe decisions that cause a collision with an obstacle.

reallyusefulrobot

rl-nmpc

Reinforcement learning for weights tunning of NMPC.

rqt_multiplot_plugin

An rqt plugin for visualizing numeric values in multiple 2D plots.

skel_disk_graph_roadmap

Python implementation of the Skeleton-Disk-Graph Roadmap planner

slam-hku-mars-lab

In this repository, we present our research works of HKU-MaRS lab that related to SLAM

slam_docker_collection

A collection of docker environments for 3D SLAM packages

time_autosync

Automatically syncs a camera to a rigidly attached IMUs time frame