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

A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps

a Multi-Map LiDAR-Inertial System for Over-Degraded Environments

Collection of Papers with Codes: LiDAR Odometry/SLAM, Dynamic Object Removal, and Multiple Map Merging

[RA-L'24] DUFOMap: Efficient Dynamic Awareness Mapping

A LiDAR-inertial odometry for dynamic environments.

Fast Laser Odom with new feature extract, truncated least squares and map manage

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

Minimal, robust, accurate and real-time LiDAR odometry

Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry

The First Dynamic Map Removal Benchmark: open-sourced all the methods and datasets in papers. Continous updating.

Calibration of LiDAR-Sensors - PointCloud Alignment/Registration tools with PCL & ROS

Calibrate extrinsic parameters of multi-lidars, based on ICP or NDT, etc.

Mult-LiDAR calibration by extracting planar features

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

Calibration routine for a mobile base with a Lidar sensor

[RA-L 2024] GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking.

Pose graph optimization module which is able to be combined with your LIO / LO algorithm

高博的新书SLAM in Autonomous Driving book (SAD book)和深蓝学院课程《自动驾驶中的slam技术》第一期的课程笔记

cartographer work space with detailed comments

「香港大学 MaRS 实验室」开源 ikd-Tree 算法中文注释版；新增了header-only分支，便于直接嵌入工程。

A simplified implementation of FAST_LIO (with Chinese note)

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

iG-LIO with Loop Closure(PGO) and Online Re-Localize

This repository provides motion constraints and online calibration for skid-steering robots. This constraint can be incorpolated your SLAM framework.

[IROS 2024] I2EKF-LO: A Dual-Iteration Extended Kalman Filter based LiDAR Odometry