3d-mapping

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

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

A LiDAR odometry pipeline that just works

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]

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

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

A LiDAR odometry pipeline for wheeled mobile robots

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

SNAP: Self-supervised Neural Maps for Visual Positioning and Semantic Understanding (NeurIPS 2023)

A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search.

A rolling voxel grid implementation of Bonxai to handle large maps in ROS 2

[ROS2 humble] Convert 3D LiDAR map to 2D Occupancy Grid Map

A tool to automatically create 3D mappings of lights from two videos

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

3D GIS SDK for MGP engine

ROS-Noetic monocular-SLAM with A* path-planner for autonomous UAVs in unknown 3D environments