C++ (or C) Lidar-slam Resources

LIMO-Velo [Alpha] 🔴 [16 February 2022] 🔴 The project is on alpha stage, so be sure to open Issues and Discussions and give all the feedback you can!

Ensemble Visual-Inertial Odometry (EnVIO) Authors : Jae Hyung Jung, Yeongkwon Choe, and Chan Gook Park 1. Overview This is a ROS package of Ensemble V

VDBFusion: Flexible and Efficient TSDF Integration This is a small utility library that implements the VDBFusion algorithm, similar to TSDF-based reco

lidar_camera_calibrator lidar_camera_calibrator is a semi-automatic, high-precision, feature-based camera and LIDAR extrinsic calibration tool. In gen

MSDM-SLAM This repository represnets a 3D DNN-based Metric Semantic Dense Mapping pipeline and a Visual Inertial SLAM system that can be run on a grou

Prometheus - 自主无人机开源项目 [English Readme] Prometheus是希腊神话中最具智慧的神明之一，希望本项目能为无人机研发带来无限的智慧与光明。 项目总览 Prometheus是一套开源的自主无人机软件平台，为无人机的智能与自主飞行提供全套解决方案。本项目基于PX4

Livox-LiDAR-Camera System Simulator A package to provide plug-in for Livox Series LiDAR. This work is inherited from EpsAvlc and LvFengchi's work: liv

The MRPT project 1. Introduction Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer v

AVP-SLAM-PLUS AVP-SLAM-PLUS is an implementation of AVP-SLAM and some new contributions. Performance of AVP-SLAM-PLUS could be found in video(https://

Cartographer Purpose Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platfo

TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo Lukas Koestler1*    Nan Yang1,2*,†    Niclas Zeller2,3    Daniel Cremers1

R3LIVE A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package News [Dec 31, 2021] Release of cod

Lidar with Velocity A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud. This repository is a barebones implementati

Introduction This repository is a reimplementation of the VLOAM algorithm [1]. The LOAM/Lidar Odometry part is adapted and refactored from ALOAM [2],

Livox-Mapping This repository implements an all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR. The system is developed based

static-ORB-extractor : SORBE Finds static ORB features in a video(excluding the dynamic objects), typically for a SLAM scenario Requirements OpenCV 3

Experiments with ORB-SLAM3 and emscripten Experiments to attempt to get ORB-SLAM3 working with emscripten. Please use the binvoc branch of my own fork

Research on Event Accumulator Settings for Event-Based SLAM This is the source code for paper "Research on Event Accumulator Settings for Event-Based

EAO-SLAM-Improve-Final-Poject This is my final improve for EAO-SLAM, full project can be found at https://pan.baidu.com/s/1Zgat7FRjKEi7cbN3QDtqbA, pas

livox_cloud_undistortion This project is used for lidar point cloud undistortion. During the recording process, the lidar point cloud has naturally th

mcl_ros About mcl_ros mcl_ros is a ROS package for mobile robot localization with 2D LiDAR. To implement localization, Monte Carlo localization (MCL)

🤖 RoboCop 🤖 Small Robot, with LIDAR and DepthCamera. Using ROS for Maping and Navigation Made by Clemente Donoso, 📍 Chile 🇨🇱 RoboCop Lateral Fron

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds DLO is a lightweight and computationally-efficient frontend LiDAR odometry solution w

DSP-SLAM Project Page | Video | Paper This repository contains code for DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint

HybVIO A visual-inertial odometry system with an optional SLAM module. This is a research-oriented codebase, which has been published for the purposes

W-LOAM A ros package for robust odometry and mapping using LiDAR with aid of different sensors Demo Video https://www.bilibili.com/video/BV1Fy4y1L7kZ?

Marker-based SLAM 此项目是SPM-SLAM的改进版本，也是一种基于AprilTag或者Aruco类型标记（marker）的SLAM系统，通过在环境中布置不同ID的marker，即可快速实现高精度的相机定位，经过在实验室环境下的测试，可以达到厘米级精度。具体流程可看图1。绿色部分是对

CT-ICP: Elastic SLAM for LiDAR sensors This repository implements the SLAM CT-ICP (see our article), a lightweight, precise and versatile pure LiDAR o

Camera-LiDAR Calibration This package estimates the calibration parameters that transforms the camera frame (parent) into the lidar frame (child). We

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

Localization using ICP in a known map Overview This package localizes the lidar sensor in a given map using the ICP algorithm. It subscribes to lidar

NAVER LABS Indoor dataset - LiDAR API These dataset are obtained in realistic department store environments! [Paper] [Related Video] (This demo video

imu_lidar_calibration Target-free Extrinsic Calibration of a 3D Lidar and an IMU Overview This repository is a toolkit for calibrating the 6-DoF rigid

fusion-lidar-camera-ROS 一、介绍 本仓库是一个ROS工作空间，其中ws_fusion_camera/src有一个工具包color_pc ws_fusion_camera │ README.md │ └───src │ └───package: c

pc2image This code converts a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor into a depth image mono16. Requisites ROS Kinetic or Melodic Ve

Kimera is a C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment. Kimera is modular, ROS-enabled, and runs on a CPU.

LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and plane points)

PointCloud on Image The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera. Th

VINS-Mono-QPEP The QPEP (Quadratic Pose Estimation Problems) Enhanced VINS-Mono

LVI-SAM-MODIFIED This repository is a modified version of LVI-SAM. Modification Add function to get extrinsic parameters.The original code assumes the

orb_slam3_light This is fork of the ORB_SLAM3 without Pangolin for ROS usage. Dependencies Eigen3 OpenCV (at least 3.0) ROS (for ros example, required

expend_lidar_camera_calib This work is an expend version of livox_camera_calib, which is suitable for spinning LiDAR。 In order to apply this algorithm

Just to test for my research, and I add coordinate transformation to evaluate the ORB_SLAM3. Only applied in research, and respect the authors' all work.

SC-LeGO-LOAM NEWS (Nov, 2020) A Scan Context integration for LIO-SAM, named SC-LIO-SAM (link), is also released. Real-time LiDAR SLAM: Scan Context (1

Divide-and-Merge-LiDAR-Panoptic-Cluster A demo video of our method with semantic prior: More information will be coming soon! As a PhD student, I don'

An implementation on "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. https://doi.org/10.3390/rs13163239"

Livox LiDAR-Camera Calibration This method is from the official method of Livox(https://github.com/Livox-SDK/livox_camera_lidar_calibration) It's just

Header-only C++ library for robotics, control, and path planning algorithms.

mola-imu-preintegration Integrator of IMU angular velocity readings. This repository provides: IMUIntegrator and RotationIntegrator: C++ classes to in

SC-TLOAM What is SC-TLOAM? A real-time LiDAR SLAM package that integrates TLOAM and ScanContext. TLOAM for odometry. ScanContext for coarse global loc

SC-FLOAM What is SC-FLOAM? A real-time LiDAR SLAM package that integrates FLOAM and ScanContext. FLOAM for odometry (i.e., consecutive motion estimati

LVIO-SAM A multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR, stereo camera and inertial measurement unit (IMU) via smoothing and mapping. The

Realtime 3D global localization in a pre-built point cloud map. By fusing low-frequency global localization (about 0.5~0.2Hz), and high-frequency odometry from FAST-LIO, the entire system is computationally efficient.

stairs_recogniton Recognize stairs with lidar. Project the laser points to X-Z plane and use least squares for linear fitting. Dependencies PCL 1.8 Ei

LIO-Livox (A Robust LiDAR-Inertial Odometry for Livox LiDAR) This respository implements a robust LiDAR-inertial odometry system for Livox LiDAR. The

LT-mapper News July 2021 A preprint manuscript is available (download the preprint). LT-SLAM module is released.

IA-LIO-SAM Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is

A ROS-based NDT localizer with multi-sensor state estimation This repo is a ROS based multi-sensor robot localisation. An NDT localizer is loosely-cou

Patchwork Official page of "Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor

Livox Laser Simulation A package to provide plug-in for Livox Series LiDAR. Requirements ROS(=Melodic) Gazebo (= 9.x, http://gazebosim.org/) Ubuntu(=1

The open-source tool for creating of 3D models

R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.

FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Comparisons of Running Time of Our Method with SOTA methods RandLA and KPConv:

This model is a highly parameterizable generic perception sensor and tracking model. It can be parameterized as a Lidar or a Radar. The model is based on object lists and all modeling is performed on object level.

navtech-radar-slam Radar SLAM: yeti radar odometry + ScanContext-based Loop Closing What is Navtech-Radar-SLAM? In this repository, a (minimal) SLAM p

Mapping-base-lidar-pose-or-vslam-pose I simply modified the colmap,when it reconstructs from known pose ,only let it optimize rotation ,fixing positio

SC-A-LOAM What is SC-A-LOAM? A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext. A-LOAM for odometry (i.e., consecutive motion esti

RemoteSLAM The purpose of this repo is to provide the building blocks (software drivers, hardware and algorithms) for implementing SLAM systems using

Livox Laser Simulation A package to provide plug-in for Livox Series LiDAR.

LVI-SAM This repository contains code for a lidar-visual-inertial odometry and mapping system, which combines the advantages of LIO-SAM and Vins-Mono

GVINS GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation. paper link Authors: Shaozu CAO, Xiuyuan LU and Sh

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first.

RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments RP-VIO is a monocular visual-inertial odometry (VIO) system that uses onl

livox_camera_calib livox_camera_calib is a robust, high accuracy extrinsic calibration tool between high resolution LiDAR (e.g. Livox) and camera in t

iRotate: Active Visual SLAM for Omnidirectional Robots This repository contains the code of iRotate, an active V-SLAM method submitted to RA-L + IROS2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

SSL_SLAM2 Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example) This repo is an extension work of SSL_SL

OpenVSLAM: A Versatile Visual SLAM Framework NOTE: This is a community fork of xdspacelab/openvslam. It was created to continue active development of

Robust Place Recognition using an Imaging Lidar A place recognition package using high-resolution imaging lidar. For best performance, a lidar equippe

This repo proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding.

The MRPT project gcc/clang: MSVC: Last stable release: GH downloads: SF downloads (datasets): Last Win64 builds: Workspace: 1. Introduction Mobile Rob