Catalina

LIO_SAM_6AXIS. LIO_SAM for 6-axis IMU and GNSS.

Cloud_Map_Evaluation. [RAL' 25 & IROS‘ 25] MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework.

PALoc. [TMECH'2024] PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation

MS-Mapping. [ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

DCReg. [IJRR'2026] DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registeration

UpdatingHDmapByMonoCamera. Updating HD map with RTK-GPS and monocular camera

opensource_slam_noted. open source slam system notes

SLAMTools. A script toolkit for SLAM research, including but not limited to various plotting functions, ROS bag processing, and more.

LIO-SAM-6AXIS-INTENSITY. LIO-SAM-6AXIS with intensity image loop optimization

PRCV-VSLAM-Challenge-2022. PRCV 2022: The FusionPortable-VSLAM Challenge

LTLoc. Beyond Pure Geometry: An Uncertainty-Driven Perspective on Long-Term LiDAR Localization

MS-Dataset. Large scale LiDAR-IMU dataset

FL2SAM_GPS. large-scale mapping system based on FAST-LIO2 and GNSS for Outdoor environment

Robust_LIO_Localization. Lidar localization system with prior map constraint and lio constraint based on GTSAM

SuperOdom-M. Minmal ICP case of SuperOdom for degenercy detetcion, only depending on Ceres and Eigen.

MS_Mapping_2.0. This is a mapping project for engineering, not for research, which fix the problems in LIO_SAM_6axis and Ms_mapping.

AM_Align. [TIM'2024] Official codes of AM-Align: Globally Optimal Estimation of Accelerometer-Magnetometer Misalignment

LIO-SAM-6AXIS-VLOOP. LIO-SAM-6AXIS with visual loop detection

gps_based_slam. from vins-fusion, only for test

NDT_Lib. 各种版本的NDT动态库

XICP-M. The Minimal case for X-ICP, only dependening on Ceres and Eigen

kalman_filter. a lidar and radar fusion project from udacity

vehicle_description. vehicle description from Autoware

Eigen_ICP. Minimal implementation of the ICP algorithm with SE3 / SO3 * R3 optimization only using Eigen, for quickly comparing and verifying various rotation parameterization methods, degeneracy analysis methods, and covariance estimation methods.

ICRA-2022-SLAM-paper-list. Unofficial ICRA 2022 SLAM paper list

lda. LiDAR Degenercy Analysis

MS-Mapping-Single. Single-session LiDAR (w/o IMU) mapping, including IMU parameter tuning experiences and lessons.

map_tools. grid map divider and viewer

FATSLIO-Quadrup. FASTLIO for Quadruped Robot

XCHU_Recipe. my own recipes

M-LOAM. Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

LIO-SAM-6AXIS-Color. A simple implement for point cloud map RGB rendering with LIO-SAM-6AXIS

RoadMarkingExtraction. A C++ Program for automatically extraction of road markings from MLS or ALS point cloud

map_compression. Implementation of a T-ITS paper: 3D LiDAR Map Compression for Efficient Localization on Resource Constrained Vehicles

JokerJohn.

ConvNeXt. Code release for ConvNeXt model

lio_mapping_2023. lio-mapping algorithm adapted for various datasets.

robotics. Notebook-based book "Introduction to Robotics and Perception" by Frank Dellaert and Seth Hutchinson

imu_tools. ROS tools for IMU devices

kalibr. The Kalibr visual-inertial calibration toolbox

Quatro. Fast and robust global registration for terrestrial robots @ ICRA2022

awesome-slam-datasets. A curated list of awesome datasets for SLAM

FS3R. A Fast Symbolic 3D Registration Solution

pytorch-auto-drive. PytorchAutoDrive: Segmentation models (ERFNet, ENet, DeepLab, FCN...) and Lane detection models (SCNN, PRNet, RESA, LSTR, BézierLaneNet...) based on PyTorch with fast training, visualization, benchmarking & deployment help

DSP-SLAM. [3DV 2021] DSP-SLAM: Object Oriented SLAM with Deep Shape Priors

gtsam. 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 matrices.

ct_icp. Continuous Time LiDAR odometry