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Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Recent Camera Localization in LiDAR Maps Paper
monocular visual inertial system with point and line features
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合
The repository provides code for running inference with the SegmentAnything Model (SAM), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
Open source visual localization for self-driving vehicles
A state vio estimator for robots using ESKF
(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.
KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
[3DV 2021] DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
Ultra-fast Boost.Python interface for ORBSLAM2
Joint intrinsic and extrinsic LiDAR-camera calibration.
This project was done as part Mobile Robotics (ROB530) course in University of Michigan
[TPAMI 2023] A cascaded vision-LiDAR odometry and mapping system
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS,…
VINS has been completely reconstructed and rewritten using C++ object-oriented, and supports stereo or stereo+ IMU.
Awesome papers about Multi-Camera 3D Object Detection and Segmentation in Bird's-Eye-View, such as DETR3D, BEVDet, BEVFormer, BEVDepth, UniAD
Sets of tools to process the multi-modal data such as image, lidar points, radar and GNSS, including synchronization, camera-lidar-calibration-toolbox based on chessboard planes
[RA-L 2023] Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline
This is official repo for ICLR 2023 Paper "DENSE RGB SLAM WITH NEURAL IMPLICIT MAPS"
A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points…
Implementation for IROS2020: "GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Model"
KinectFusion implemented in Python with PyTorch
Radar Camera Fusion in Autonomous Driving