calebtam Goto Github PK

-vio

从零开始手写VIO

apollomodulesnotes

目前在更新lidar tracker。路径：/perception/lidar/lib/tracker。tracker主要包含object matcher和object tracker两部分。matcher主要涉及匈牙利算法及其权重的计算。tracker主要涉及motion和shape的更新。目前会逐步讲解各个子模块，学习路径参考readme.md.

awesome-visual-slam

:books: The list of vision-based SLAM / Visual Odometry open source, blogs, and papers

awesome-vslam-research

VSLAM Research 不断更新

ba_schur

从零开始写vio学习BA优化代码，有一些理解，添加了一些注释。

biaoding_ar_table_dataset

Small-scale indoor table AR visual-inertial datasets with 6DoF groundtruth.

book

:green_book:我的个人书籍学习和收藏

carnd-extended-kalman-filter-project

Self-Driving Car Nanodegree Program Starter Code for the Extended Kalman Filter Project

cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

cs-3630-introduction-to-perception-robotics-

Notebook-based book "Introduction to Robotics and Perception" by Frank Dellaert and Seth Hutchinson

data_record_play

direct-sparse-mapping

Direct Sparse Mapping

dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry

dquickltfit

DQuickLTFit - A least-square fitting tool for the analysis of positron lifetime spectra using the Levenberg-Marquardt algorithm

drt-vio-init

The official repository of our CVPR2023 paper "A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization".

dso

Direct Sparse Odometry

dso-dso-

dso个人注释版

easy_slam_tutorial

首个中文的简单从零开始实现视觉SLAM理论与实践教程，使用Python实现。包括：ORB特征点提取，对极几何，视觉里程计后端优化，实时三维重建地图。A easy SLAM practical tutorial (Python).图像处理、otsu二值化。更多其他教程我的CSDN博客

eskf

An implementation of an Error State Kalman Filter (ESKF)

ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

evo

Python package for the evaluation of odometry and SLAM

exotica

Extensible Optimization Framework

fast_lio

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

featureextraction-featurematching-triangularpoints-depthfilter

featureExtraction特征点包含：ORB, SIFT, SURF, AKAZE, BRIEF。； featureMatching主要包括Flann和BruteForce匹配。； triangularPoints利用OpenCV以及Eigen对匹配的特征点对恢复空间点。三角化原理及其误差分析可以详见triangulatePoints/README.md; depthFilter

gauss_newton_exo_solver

Gauss-Newton solver for EXOTica. This is now part of upstream EXOTica as LevenbergMarquardtSolver. You may use this to experiment with Newtonian like solvers or as blueprint for your own solver implementation.

gps_imu_fusion-with-eskf-ekf-ukf-etc

gps_imu_fusion with eskf,ekf,ukf,etc

gps_vio_using-a-factor-graph

Odometry Fusion of PX4 GPS and Realsense T265 VIO

handeyecat

easy, fast implementation of Tsai's hand-eye calibration algorithm

imu-x-gnss-6dof-odom-loosely-coupled-fusion

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

imu_gps_localization

Localization