3d line detection from pointcloud using Hough Transform

A simple and efficient 3D line detection algorithm for large scale unorganized point cloud

LiLoc: Lifelong Localization using Adaptive Submap Joining and Egocentric Factor Graph

Intensity Triangle Descriptor Constructed from High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection

A curated list of resources relevant to LiDAR-Visual-Fusion-SLAM

[RSS2024] Official implementation of "Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation"

This project allows the alignment and correction of LiDAR-based SLAM session data with a reference map or another session, also the retrieval of 6-DoF poses with accuracy of up to 3 cm given an ac…

[ICRA2024] Collaborative Dynamic 3D Scene Graphs for Automated Driving

[ICRA'24] Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion

LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and planar points)

A LiDAR-based complete global localization method.

[RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping

Collection of Papers with Codes: LiDAR Odometry/SLAM, Dynamic Object Removal, and Multiple Map Merging

Open-source code for Paper: Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated in…

Benchmark for lidar and visual place recognition

Tightly-coupled Visual/Inertial/Map Integration with Observability Analysis for Reliable Localization of Intelligent Vehicles

Spatio-Temporal Metric-Semantic SLAM

Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM

[ICRA 2022] The official repository for "LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition", In 2022 International Conference on Robotics and Automation (ICRA), pp. 221…

[ICRA 2024] Official repository of Reg-NF: Efficient Registration of Implicit Surfaces within Neural Fields

[ICRA'24] A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps

OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition

SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation

Recent multi-robot projects and papers: Including SLAM, place recognition, Large Language Models navigation. (continually updated)

[RA-L'24] BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps

深蓝学院 多传感器定位融合第四期 学习笔记