File Player for MulRan Dataset

A large-scale multi-robot dataset for multi-robot SLAM

Easy to use tools to create and edit trajectories for the rviz camera.

A LiDAR odometry pipeline for wheeled mobile robots

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

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

GH-ICP: Iterative Closest Point algorithm with global optimal matching and hybrid metric [3DV' 18]

GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2024)

paper_quality_plot.matlab

(RA-L 2024) This repository is the official code for Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition.

Distributed-LiDAR-SLAM: SOLiD + DiSCo SLAM

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

[ICRA2024] Implementation of A Fast, Lightweight, and Dynamic Octree for Proximity Search

A simplified implementation of FAST_LIO (with Chinese note)

ROSA 🤖 is an AI Agent designed to interact with ROS1- and ROS2-based robotics systems using natural language queries. ROSA helps robot developers inspect, diagnose, understand, and operate robots.

Awesome papers about Autonomous Ground Robot System in Unstructured Outdoor Environments

[ROS2 humble] ROS2 wrapper for FAST-LIO package

Convert KITTI dataset to ROS bag file the easy way!

A relocalization package for Livox LiDARs.

3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Radar-SLAM: ReFeree + Yeti Odometry

(RA-L 2024) This repository is the official code for "ReFeree: Radar-based Lightweight and Robust Localization using Feature and Free space".

(ICRA 25 submitted) This repository is the official code for DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot Navigation in Multi-session Outdoor Environments.