Open3D: A Modern Library for 3D Data Processing

A large scale non-linear optimization library

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

g2o: A General Framework for Graph Optimization

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…

C++ implementation of Lie Groups using Eigen.

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

an extensive Qt5 & Qt6 Plotter framework (including a feature-richt plotter widget, a speed-optimized, but limited variant and a LaTeX equation renderer!), written fully in C/C++ and without extern…

LIO_SAM for 6-axis IMU and GNSS.

GLIM: versatile and extensible range-based 3D localization and mapping framework

ImMesh: An Immediate LiDAR Localization and Meshing Framework

A 3D point cloud descriptor for place recognition

[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry

Fast and flexible C++ library for working with OpenStreetMap data.

Efficient and parallel algorithms for point cloud registration [C++, Python]

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Minimal, robust, accurate and real-time LiDAR odometry

Effectively Detecting Loop Closures using Point Cloud Density Maps

A collection of GTSAM factors and optimizers for point cloud SLAM

ORORA: Outlier-robust radar odometry, which is accepted in ICRA'23

Radar odometry code which removes motion distortion and Doppler effects from Navtech radar data.

Efficient and accurate spinning FMCW 2D radar odometry in C++ / ROS.

Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System

An Android app that publishes sensor and camera data on ROS 2 topics

Radar SLAM in C++ / ROS

republish livox raw message to standard pointcloud2