Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

A collection of MATLAB routines for the Spherical Harmonic Transform and related manipulations in the spherical harmonic spectrum.

Free spherical harmonic graphics

Parallelized version of ARS - CUDA implementation

Library implementing Angular Randon Spectrum (ARS) and using it for estimation of rotation.

RIMLab Open Factotum Library

C++ multidimensional arrays in the spirit of the STL

A fast and robust point cloud registration library

C++ library for bit twiddling

Implementation of ehaustive clique enumeration algorithm GreedyBB

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

Geometric Relation Distribution (GRD) for loop closure in LiDAR 2D mapping problems.

A small C++11 header-only library for Lie theory.

GH-ICP: Iterative Closest Point algorithm with global optimal matching and hybrid metric [3DV' 18]

Globally Optimal Registration based on Fast Branch and Bound

A geometric relations signature for landmark point sets to enable place recognition and map loop clousure.

Vision Algorithms of MARIS project

A large scale non-linear optimization library

Point cloud annotation tool based on RViz

A C implementation for creating 2D voronoi diagrams

Probabilistic line extraction from 2-D range scan

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

ROS publisher for Kitti dataset

Library for computing Wigner D Matrices, spin-weighted spherical harmonics, and associated quantities needed for functions on the sphere. Written in C++; Python bindings via SWIG.

Versor Geometric Algebra Library

An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.

ROS node implementation of the Expectation Maximization algorithm to obtain gaussian mixture models of arbitrary data.

ROS node implementation of a simple Next Best View algorithm based on voxel grid, view sphere sampling, ray tracing and unknown voxel count.