Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM

MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

ROS wrappers for SLAM algorithms in MRPT

Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments

DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot Navigation in Multi-session Outdoor Environments

Compact, Cumulative and Coalescible Probabilistic Voxel Mapping

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

Nav2 Compatible Docking Task Server & BT Utils

Ros package for converting 3D voxel maps generated by the UFOMap mapping solution into 2D occupancy maps for unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGV)

[ICCV2023] NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping

IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends

A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method, and with ScanContext as a loop candidate detection method

FAST-LIO 2 with VoxelMapPlus and STD

Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

continuous-time-based multi-imu spatiotemporal calibration

Minimal, robust, accurate and real-time LiDAR odometry

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

C++ Implementation of PyTorch Tutorials for Everyone

Implementation of XFeat (CVPR 2024). Do you need robust and fast local feature extraction? You are in the right place!

A fast and robust global registration library for outdoor LiDAR point clouds.

The dataset for the paper: Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach

A large-scale multi-robot dataset for multi-robot SLAM

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Velocity corrected Iterative Compact Ellipsoidal Transform