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

LIO_SAM for 6-axis IMU and GNSS.

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

[TMECH'2024] Official codes of ”PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation“

A collection of GTSAM factors and optimizers for point cloud SLAM

[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

Offical code release for DynoSAM: Dynamic Object Smoothing And Mapping. Accepted Transactions on Robotics (Visual SLAM SI). A visual SLAM framework and pipeline for Dynamic environements, estimating for the motion/pose of objects and their structure, as well as the camera odometry and static map.

Factored inference for discrete-continuous smoothing and mapping.

Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.

Robust GNSS Processing With Factor Graphs

Lightweighted graph optimization (Factor graph) library.

The full_linear_wheel_odometry_factor provides motion constraints and online calibration for skid-steering robots. This constraint can be incorporated into your SLAM framework. Here is an example video using this factor. https://youtu.be/Vss86xUhU80

learning and feeling SLAM together with hands-on-experiments

LIO-SAM-6AXIS with intensity image loop optimization

Software Release for "Incremental Covariance Estimation for Robust Localization"

Code release for "Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer".

IMU-based human skeletal pose estimation in C++11

Lidar localization system with prior map constraint and lio constraint based on GTSAM

Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM

SLAM code for RGB-D images in python.

3D Graph Based SLAM

Code release for "The Importance of Coordinate Frames in Dynamic SLAM", ICRA 2024

Using visual markers, EKF, Factor Graphs, etc. to localize a handheld camera.

Visual SLAM learning and training

iSAM2-based backend interface for 2D Pose Graph SLAM

A real-time LiDAR SLAM package that integrates FLOAM and ScanContext.

Sensor Fusion of noisy gps signals with IMU preintegration