Ryohei Sasaki

lidar_slam_ros2. ROS 2 LiDAR SLAM for pointcloud-map authoring, benchmarking, and Autoware-compatible map workflows.

lidar_localization_ros2. 3D LIDAR Localization using pointcloud map in ROS 2 (Not SLAM)

li_slam_ros2. ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

kalman_filter_localization_ros2. gnss/imu localization using kalman filter

rust_robotics. 100+ robotics algorithms in Rust: planning, localization, SLAM, control, and benchmarks.

lidar_localizer. lidar localizer in Autoware AI

gnssplusplus-library. Modern C++ GNSS/RTK/PPP/CLAS toolkit.

CudaRobotics. GPU-accelerated robotics (CUDA + C++)

ndt_omp_ros2. ROS2 porting of ndt_omp

PoseOptimizationSLAM3D. Python sample code of 3D pose optimization SLAM

littleslam_ros2. A ROS2 Wrapper for LittleSLAM, which is a 2D-LiDAR SLAM for educational use

NormalDistributionTransform2D. Python sample code of 2D NDT Scan Matching

RANSAC-plus. (unofficial)(2025)RANSAC Revisited: An Improved Algorithm for Robust Subspace Recovery under Adversarial and Noisy Corruptions

ensemble_kalman_filter. Python sample code of robot localization with ensemble kalman filter and landmarks

laser_deskew. ros1 package for 2d laser deskew using tf.

lidar_undistortion. A header-only program of 3d rotary lidar undistortion using 9-axis imu

amcl_3d. AMCL(Adaptive Monte Carlo Localization) using 3D LiDAR for ROS.

imu_estimator. attitude estimator with gyro bias correction

gaussian_particle_filter. Python sample of Gaussian Particle Filter localization

transfrom_velocity. C++ program for performing 3D and 2D velocity transformations using Lie algebra.

gnss_imu_wheel_localizer. gnss/imu/wheel localizer for autoware

particle_filtering_model_predictive_control. Particle filtering model predictive control simulation.

mathematical_robotics. A C++ port of the MathematicalRobotics library

pygnss. pygnss is a gnss analysis library

quaternion-based_kalman_filter. Python

q-method. estimator to minimize Wahba's loss function for satellite attitude

autoware_tools. C++

simple_visual_slam. Readable Visual SLAM in 6k lines of C++17. Mono/RGB-D/Stereo/DL-Depth, loop closing, ROS2 node. BSD-2-Clause.

RTKLIB. C

gsdc2023. Google Smartphone Decimeter Challenge 2023

sideslip-angle-vehicle-estimation. MATLAB and C++ implementations of sideslip angle estimators

glim. GLIM: versatile and extensible range-based 3D localization and mapping framework