李城（大橙子）

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)

colmap-fusion-gps. colmap fusion gps ,reduce drift !

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

Snake-SLAM-Repair. Snake -SLAM 是一款低算力的VIO系统，但是存在很多bug，本仓是修复后的代码

colmap-360-gaussian-splatting. colmap 全景数据gaussian splatting

panorama-Equirectangular-3DGS-benchmark. Provide panoramic data and corresponding colmap sparse model as well as segmented pinhole and corresponding sparse model, which is convenient for 3DGS researchers to use

sfm-opencv-gtsam-cmake-. Implement Structure from motion with gstam and opencv

Lidar-3DGS. 激光相机设备gausssian splatting

collaborationSfM. 众包SfM

bundle-adjustment. using cvsba to do bundle adjustment

gps-transform-to-utm. gps坐标转为utm 坐标系

3D-reconstruction. colmap+openmvs pipeline

ONNX-Unidepth-Monocular-Metric-Depth-Estimation. Python scripts performing Metric Monocular Depth Estimation using the Unidepth model in ONNX.

LIO_IMM. C++

360-gaussian-splatting. This repository contains programs for reconstructing 3D space using OpenSfM and Gaussian Splatting techniques. It allows users to generate point clouds from images captured by a 360-degree camera using OpenSfM, and then train Gaussian Splatting models using the generated point clouds.

direct_360_FPE. [RA-L'22] 360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimation

pybind11_pixelmatch. A C++17 port of the JavaScript pixelmatch library (with python binding), providing a small pixel-level image comparison library.

LIO-SAM-Localization. Estimate the odometry of a robot in pre-built map using LIO-SAM

nerf-learn. 记录对nerf各种算法、应用、软件等等的学习过程

Daisy. daisy 定点匹配描述子

HDMapping. C++

web-3D-reconstrution. web 三维重建

panoramic-localization. Panoramic localization library containing PyTorch implementations of various panoramic localization algorithms including PICCOLO (ICCV 2021), CPO (ECCV 2022), LDL (ICCV 2023) and FGPL (CVPR 2024).

camera-pose. 利用ceres 求解2D-3D的相机位姿

MORB. Official repository of the local feature MORB, a multi-scale binary descriptor based on ORB that improves the accuracy of feature matching under scale changes.

COIN-LIO. 强度增强激光雷达惯性里程计

vwio_eskf. ESKF Algorithm for Muti-Sensor Fusion(Wheel Odometry, IMU, Visual Odometry)

SORT3D. SORT3D, an LLM-based object-centric grounding and indoor navigation system employing a spatial reasoning toolbox and state of the art 2D VLMs for perception.

BunnyVisionPro. Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro

cliquemining. Close, But Not There: Boosting Geographic Distance Sensitivity in Visual Place Recognition

ros2_psd_pcb_reloc. A full ROS2 workspace to execute the novel relocalization method introduced in the ```Solving Short-Term Relocalization Problems In Monocular Keyframe Visual SLAM Using Spatial And Semantic Data``` paper presented in AIM 2024

intro_to_gaussian_splatting. Jupyter Notebook

mola_imu_preintegration. Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

task-thread-pool. Fast and lightweight thread pool for C++11 and newer.

UAV-VisLoc. UAV-VisLoc: A Large-scale Dataset for UAV Visual Localization

Doppler-ICP. Official code release for Doppler ICP

pycctag. cctag 的python 版本

Awesome-LLM-3D. Awesome-LLM-3D: a curated list of Multi-modal Large Language Model in 3D world Resources

gaussian-grouping. Gaussian Grouping for open-world Anything reconstruction, segmentation and editing.

Grendel-GS. Ongoing research training gaussian splatting at scale by distributed system

full_linear_wheel_odometry_factor. The full_linear_wheel_odometry_factor provides motion constraints and online calibration for skid-steering robots. This constraint can be incorporated into your SLAM framework. Here is an example video using this factor. https://youtu.be/Vss86xUhU80

invariant-ekf. C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

ChatSim. [CVPR2024 Highlight] Editable Scene Simulation for Autonomous Driving via LLM-Agent Collaboration

360-mlc. [NeurIPS'22] 360-MLC: Multi-view Layout Consistency for Self-training and Hyper-parameter Tuning

Block-Map-Based-Localization. 基于地图的lidar定位2024

mlpack. mlpack: a fast, header-only C++ machine learning library

depth-aware-3DGS. Code for "Few-shot Novel View Synthesis using Depth Aware 3D Gaussian Splatting" (ECCV 24 workshops)

semantic-gaussians. Official implemetation of the paper "Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting".

yoloe. YOLOE: Real-Time Seeing Anything

map-anything. MapAnything: Universal Feed-Forward Metric 3D Reconstruction

annotated_deep_learning_paper_implementations. 🧑‍🏫 60 Implementations/tutorials of deep learning papers with side-by-side notes 📝; including transformers (original, xl, switch, feedback, vit, ...), optimizers (adam, adabelief, sophia, ...), gans(cyclegan, stylegan2, ...), 🎮 reinforcement learning (ppo, dqn), capsnet, distillation, ... 🧠

detectron2. Detectron2 is FAIR's next-generation platform for object detection, segmentation and other visual recognition tasks.

Pano2Pinhole. Convert panoramic image to pinhole image. Extract from OpenMVG.

pose-graph-initialization. C++

segment-geospatial. A Python package for segmenting geospatial data with the Segment Anything Model (SAM)

sewar. All image quality metrics you need in one package.

adaptive_clustering. A lightweight and accurate point cloud clustering method

livehand. Official PyTorch implementation of the ICCV '23 paper LiveHand

LaneSLAM. Semantic SLAM which ism focus on lane.

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