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3d-icp-cov

Code for the paper "A New Approach to 3D ICP Covariance Estimation for Mobile Robotics"

cpi

Closed-form Preintegration for Graph-based Visual-Inertial Navigation

cuda-bundle-adjustment

A CUDA implementation of Bundle Adjustment

cudasift

A CUDA implementation of SIFT for NVidia GPUs (1.2 ms on a GTX 1060)

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

fast_gicp

A collection of GICP-based fast point cloud registration algorithms

gaussian-splatting

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

gicp

Generalized ICP reference implementation

imu_utils

A ROS package tool to analyze the IMU performance.

ins-gps-ekf

C++ Library for INS-GPS Extended-Kalman-Filter (Error State Version)

kalman

Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3

kr_utils

Collection of utils packages

learnviorb

lego-loam

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

manif

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

maplab

An open visual-inertial mapping framework.

marginalization

Sample code for marginalization of SLAM, Visual-Inertial Odometry.

mola

A Modular Optimization framework for Localization and mApping (MOLA)

msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

niswgsp

C++ implementation of the ECCV 2016 paper, Natural Image Stitching with the Global Similarity Prior.

okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

open_vins

An open source platform for visual-inertial navigation research.

opengv

OpenGV is a collection of computer vision methods for solving geometric vision problems.

openvslam

A Versatile Visual SLAM Framework

orb_slam2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

orb_slam3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

orbslam2_with_pointcloud_map

pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.