LIVW-Localization: A Multi-modal Information Fused Vehicle Localization Method for Complex, Large-Scale and GNSS-Denied Environments.

Awesome Embodied Navigation: Concept, Paradigm and State-of-the-arts

LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments

NGD-SLAM: Towards Real-Time SLAM for Dynamic Environments without GPU.

INS-Centric Visual-Inertial Navigation System With LiDAR Enhancement

SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Heterogeneous Robots

Building a 3D Line-based Map Using a Stereo SLAM

[CVPR'24] LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry

Large scale LiDAR-IMU dataset

Minimal C++ library for spatial data structures based on voxel hashing

Bag process and evalutaion tools for SLAM research

Graph-based, sparse radar-inertial odometry estimation

The official repository of our ICRA 2024 paper "Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints".

MS-Mapping: Multi-session LiDAR Mapping with Wasserstein-based Keyframe Selection and Balanced Pose Graph

A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

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

[CVPR 2024] RoMa: Robust Dense Feature Matching; RoMa is the robust dense feature matcher capable of estimating pixel-dense warps and reliable certainties for almost any image pair.

Python implementation of SLAM algorithm Stereo-PTAM

LiDAR Inertial Mapping Package

[CVPR 2024] Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras

Platform for Deep Learning based SLAM

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

Minimal, robust, accurate and real-time LiDAR odometry

A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.

Maybe the simplest LiDAR-inertial odometry that one can have.

This project is used to collect VIO Data in AirSim.(High FPS and Strictly Syc)

SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System(CVPR2024)