chengwei

ct-lio. CT-LIO: Continuous-Time LiDAR-Inertial Odometry

Lidar_IMU_Localization. Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

ESKF_LIO. IESKF-LIO reference to fast_lio1.0(参考fast-lio早期版本，复现的fast-lio2)

Adaptive-LIO. [JIOT 2024] Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry

II-NVM. [RA-L'25 & IROS'25] II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping

CTLO. CTLO: Continuous-Time LiDAR Odometry

hm-lio. A Hash-map based Lidar-Inertial Odometry (A simple reproduction of fastlio 1.0 with Hash-map).

BoW3D-LeGO-LOAM. LiDAR SLAM: BoW3D (22' RA-L) + Scan Context (18 IROS) + LeGO-LOAM (18 IROS)

calib_lidar_imu. Linear Rotation Calibration about Lidar-Imu

LIO-Livox-modified. A Robust LiDAR-Inertial Odometry for 3D LiDAR

simple_gnss_localizer. A simple GNSS positioning and display demo(三维位姿数据显示在Google地图上)

testICP. A variety of ICP algorithm implementation, can be used to do comparative testing. Include ICP_CERES, ICP_G2O,ICP_SVD etc.

fast-lo. Fast Laser Odom with new feature extract, truncated least squares and map manage

LIO-SAM-modified. A Modified LIO-SAM for 6-axes imu

mad-icp. Minimal, robust, accurate and real-time LiDAR odometry [ROS Version]

amcl3d_test. Adaptive Monte-Carlo Localization in 3D

cartographer_windows. 谷歌建图算法-windows版本

floam_g2o. Fast LOAM use g2o

ssl_slam3_modified. A modiffied ssl_slam3 for traditional spinning lidar

ndt_omp_multigrid. Multi-threaded and SSE friendly NDT algorithm

sensor-fusion-for-localization-and-mapping. 深蓝学院 多传感器定位融合第四期 学习笔记

sync_gps_lidar_imu_cam. lidar-imu-cam-GPS时间戳硬件同步方案

MA-LIO. Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation

multiple-object-tracking-lidar. C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

voxel_svio. [RA-L 2025] A stereo visual-inertial odometry system based on voxel map

sr_lio_comment. A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency

chengwei0427.

imu_utils. A ROS package tool to analyze the IMU performance.

slam_in_autonomous_driving. 《自动驾驶中的SLAM技术》对应开源代码

HBA. [RAL 2023] A globally consistent LiDAR map optimization module

lidar-sync-mimics-gps. Open-Source LiDAR Time Synchronization System by Mimicking GPS-clock

LOAM-multi-thread. Adjust the original LOAM to a multi-threaded version which doesn't require ROS.

Multi-Object-Tracking. A fast object tracking method by using JPDA-IMM-UKF.

segmap. A map representation based on 3D segments

LOL. LOL: Lidar-only Odometry and Localization in 3D point cloud maps

nanoflann. nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

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

depth_clustering. :taxi: Fast and robust clustering of point clouds generated with a Velodyne sensor.

traversability_mapping. Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

lidar_align. A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

kalibr_allan. IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.

Awesome-LiDAR-Camera-Calibration. A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes

VIO-Doc. 主流VIO论文推导及代码解析