Hang Zhou，China

Xinliang Zhong

Elite
@TurtleZhong

Visual SLAM & Sensor Fusion

Map-based-Visual-Localization. A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

801

AVP-SLAM-SIM. A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813

452

msckf_mono. VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0

317

LVIO-SAM. A Multi-sensor Fusion Odometry via Smoothing and Mapping.

238

camera_lidar_calibration_v2. ROS VERSION: A tool used for calibrate 2D laser range finder (LRF) and camera.version1：https://github.com/TurtleZhong/camera_lidar_calibration

124

Visual-Inertial-Synchronization-Hardware. This project aims to hardware-synchronize camera and IMU so that both use the same (millisecond precise) time base.

90

camera_lidar_calibration. A tool used for calibrate the extrinsic between 2D laser range finder (LRF) and camera. ROS Version: https://github.com/TurtleZhong/camera_lidar_calibration_v2

83

hfnet_ros. A cpp or ROS Warpper of HF-NET inference part (https://github.com/ethz-asl/hfnet)

80

PoseGraph-Ceres. An offline tool for pose-graph-optimization.

80

ESKF-All-in-One-Open. Error State Kalman Filter All in One, from Theory to Practice.

59

avp-bev-open. A pkg stiching around view images(4-6cameras) to generate bird's eye view.

48

Gazebo-models-generator. A tool using to generate Gazebo models from 3D models.(Sketchup files, *.dae, *.obj, *.stl, etc.)

34

Projects-Summary. 本人完成的项目汇总

28

vins_notes. vins-mono初始化部分详细教程

18

ORB_SLAM2_error_analysis. ORB_SLAM2_error_analysis

11

msckf_notes. HTML

9

LIO-SEGMOT. LiDAR-Inertial Odometry via Simultaneous Ego-motion Estimation and Multiple Object Tracking (ICRA 2023)

9

Particle_Filter_Demo. A demo for particle filter.

8

ros_projects. Some ros projects

6

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

5

encoder_imu_ekf_ros. ROS package to fuse together IMU and wheel encoders in an EKF. Implemented in both C++ and Python. C++ version runs in real time.

4

SurroundCameraCalib. C++

4

direct_lidar_inertial_odometry. [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.

4

street-gaussians-ns. Unofficial implementation of "Street Gaussians for Modeling Dynamic Urban Scenes"

3

lvio_fusion. Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)

3

UrbanNavDataset. UrbanNav:An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas

3

PlaneDetection. Implementation of my article "A Robust Statistics Approach for Plane Detection in Unorganized Point Clouds"

2

Wheel_Encoder_aided_vo. Modify the raw ORB-SLAM, using odometer-gyro preintegration aided

2

Super-Bible. Super Bible of SLAM

2

SLAM_Learning. projects after 2017

2

Python-VO. A simple python implemented frame-by-frame visual odometry with SuperPoint feature detector and SuperGlue feature matcher.

2

leetcode. leetcode exercises

2

rviz_visual_tools. C++ API wrapper for displaying shapes and meshes in Rviz

2

paper_reading_in_DM. some papers reading in DeepMotion

2

plane_seg. Plane Segmentation Utilites

2

leetcode_101. LeetCode 101：和你一起你轻松刷题（C++）

1

LVI-SAM. LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

1

uav_frontier_exploration_3d. C++

1

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

1

tuw_multi_robot. C++

1

ros2_cookbook. Code snippets for ROS2

1

apollo. An open autonomous driving platform

1

Sensor-Fusion. Sensor Fusion for Localization & Mapping

1

colmap--Important-code-is-to-parse-line-by-line. 教你一点点掌握视觉三维重建-colmap 重要代码逐行解析(本人利用下班和周末时间update,so 速度会慢)

1

gazebo_terrain. Terrain model generator for Gazebo

1

nerf_pl. NeRF (Neural Radiance Fields) and NeRF in the Wild using pytorch-lightning

1

street_crafter. [CVPR 2025] StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models

1

Vehicle-CV-ADAS. The project can achieve FCWS, LDWS, and LKAS functions solely using only visual sensors. using YOLOv5 / YOLOv5-lite / YOLOv8 and Ultra-Fast-Lane-Detection-v2 .

1

multi_robot_coordination. "Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020

1

champ. 𓃡 Quadruped Robot based on MIT Cheetah I

1

Stereo-Localization-in-LiDAR-Maps. Visual localization method in LiDAR maps. Only a stereo camera is need during localization since the LiDAR map can be built offline.

1

CarND-Motion-Prediction-Control-Project. C++

1
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