An optimization-based multi-sensor state estimator

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

g2o: A General Framework for Graph Optimization

implement EPnP algorithm with Eigen

COLMAP - Structure-from-Motion and Multi-View Stereo

The Kalibr visual-inertial calibration toolbox

Mirror of the Basalt repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt

BabelCalib: A Universal Approach to Calibrating Central Cameras. In ICCV (2021)

RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024)

various PnP slover implementations, include p3p, p3pf, epnp, dlt

AprilTag is a visual fiducial system popular for robotics research.

相机内参标定和双目标定, 支持多种相机模型和多种标定板，

An Optimization-Based GNSS/INS Integrated Navigation System

Use visible and infrared images to train the network. This method is better to face the dark environment.

[RAL 2023] A globally consistent LiDAR map optimization module

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

Advanced implementation of LOAM

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

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)

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

sensor calibration tools for autonomous driving and robotics

A code-completion engine for Vim

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI application and comparison on Gazebo and real-…

fusing gps and imu by eskf

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

😎 A current list of LiDAR-IMU calibration method

An efficient and consistent bundle adjustment for lidar mapping

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras