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3d-mapping

3D mapping using a 2D laser scanner and IMU-aided visual SLAM

3d-point-cloud-processing

All materials about 3D point cloud processing are included in this folder.

3dlines-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

ardupilot-rover-plugin

Dedicated ardupilot-rover-plugin for ROS Gazebo SITL software simulation

catkin_ws

cv_papar_list

Latest paper collection about Localization, Mapping, SLAM(Simultaneous Localization and Mapping), Deepth estimation and Visual Odometry, Optical Flow Estimation, Deep learning theory, Machine Learning theory etc.

cv_ws

download

Lantern官方版本下载 蓝灯 翻墙 代理 科学上网 外网 加速器 梯子 路由 proxy vpn circumvention gfw

dvo_slam

Dense Visual Odometry and SLAM

dynaslam

DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups

eigenchinesedocument

This is my translation of Chinese document of Eigen

eval-vislam

Toolkit for VI-SLAM evaluation.

evo

Python package for the evaluation of odometry and SLAM

facenet

Face recognition using Tensorflow

fbus-ekf

An Open-Source, Fiducial-Based, Underwater Stereo Visual-Inertial Localization Method with Refraction Correction

file

gazebo-tracks

A script that can create a track driven sdf model for gazebo.

gcnv2_slam

Real-time SLAM system with deep features

gym_ped_sim

A ros gazebo plugin for pedestrians （Raw depth social compliant navigation through GAIL) ICRA 2018

kfnn

lego-loam_noted

LeGO-LOAM代码注释与学习

lidar_slam

lins---lidar-inertial-slam

A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter

lsd_slam

LSD-SLAM

mask_rcnn

Mask R-CNN for object detection and instance segmentation on Keras and TensorFlow

msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

msckf_vio_note

Commented-Out Code of MSCKF

my_ws

neu_m100_description

使用Blender进行uav结构建模设计

neu_m100_gazeboenv_demo

整合uav模型与gazebo环境，开放测试demo，可使用键盘控制无人机进行遥控飞行与飞行状态数据检测等，是本项目的初步仿真环境成果展示。