PCL library sample code for ROS 🐢

The lidar_spherical_projection package enables the real time transformation of raw point cloud data from a Velodyne Lidar sensor into a 2D front view image through spherical projection techniques.

A ROS package that loads KITTI velodyne data and play in ROS

Multi Sensor Fusion, VLP-32C Lidar driver

A wrapper package for launch velodyne node for Velodyne 64E laser sensor

3D LIDAR-based Graph SLAM

ROS Docker container for evaluating Velodyne LIDAR + WT61C IMU Sensor

LiDAR processing ROS2. Segmentation algorithm: "Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process". Clustering algorithm: "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance".

Simulation model for ARV's 2022-2024 robot "Marvin"

This is the official repository of LiLi-OM, a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

Two different mobile robot models are described and evaluated for performance in a simulated environment. Both simulations are run using Gazebo and RViz. The robots use Adaptive Monte Carlo Localization and the move-base plug in for navigation to successfully arrive at a goal

Iterative Closest Point with using Velodyne-VLP16

Converts a 3D Point Cloud into a 2D laser scan.

Raycasting based Range Sensor Simulation in Gazebo using Rmagine

Data collection for image and point cloud

OpenDLV Microservice to interface with VelodyneLidar HDL32e units

Point Cloud 3D Visual Perception Simulation that runs on real LiDAR data

Ackermann Car Simulation in Gazebo

Modified Velodyne simulator ROS packages.