🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)

[ICRA 2022] The official repository for "LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition", In 2022 International Conference on Robotics and Automation (ICRA), pp. 221…

Toolbox for quantitative trajectory evaluation of VO/VIO

CT-LIO: Continuous-Time LiDAR-Inertial Odometry

A simplified implementation of FAST_LIO (with Chinese note)

Detailed note of ESKF

[IROS 2021] CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System

Use ceres solver auto-diff to solve pose estimation problem

深蓝学院 多传感器定位融合第四期 学习笔记

Create a rosbag from a given one, using a simple GUI

A 3D point cloud descriptor for place recognition

Direct-LiDAR-Odometry 的 Scan Context 回环优化版本

Ready to test your SLAM system in challenging datasets from extreme environments? Try this out! The dataset is provided by the Team CoSTAR that has been intensively testing multi-robot systems in r…

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

Extending the Robustness of LiDAR SLAM to Geometrically Degenerate Scenarios

(Beta Version)Code for paper "Light-LOAM: A Lightweight LiDAR Odometry and Mapping based on Graph-Matching"

Repository for 3D localization and mapping of multi-agricultural scenes via a hierarchically-coupled LiDAR-Inertial Odometry

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

Maybe the simplest LiDAR-inertial odometry that one can have.

Lidar Odometry

Open-source code for Paper: Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments

iG-LIO with Loop Closure(PGO) and Online Re-Localize

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

Front_end : fastlio2 Back_end : lio_sam

LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS

Postgraduate Thesis: fast_lio_sam + dynamic removal (T-GRS 2024) + multi-session mapping (ICRA 2022 Kim) + object-level update + online relocalization (ICRA 2025 submittion) + real-world applicatio…