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Pose Correction for Highly Accurate Visual Localization in Large-scale Indoor Spaces (ICCV 2021)
Information Field for Perception-aware Planning
Implementations of Multiple View Geometry in Computer Vision and some extended algorithms.
A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.
A computationally efficient and convenient toolkit of iterated Kalman filter.
UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping
Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
A very basic pipeline of Lidar SLAM System (Based on PCL and ROS).
The implementation code for the paper SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints.
Implementation of RGBD SLAM pipeline with SIFT feature tracking, incremetal ICP and pose graph optimization
[IEEE RAL] Fast and Robust Registration of Partially Overlapping Point Clouds in Driving Applications
Motion Deblurring with Real Events
Dense RGB-D SLAM system RGB-D SLAM articulated around a supersurfel-based 3D representation for fast, lightweight and compact mapping in indoor environment.
Example of using move_base with mavros/px4 and rtabmap visual SLAM
An implementation of AVP-SLAM and some new contributions
RIO - EKF-based Radar Inertial Odometry using 4D mmWave radar sensors
多传感器融合定位模块,可融合IMU/GNSS/ODOM/LIDAR等传感器数据完成高精度定位,输出位置、速度、姿态等导航结果
Extrinsic calibration of the camera and LiDAR via polygon plane
Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3
[IROS 2021] CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
Robust Partial-to-Partial Point Cloud Registration in a Full Range
Lidar and Radar Fusion with EKF and UKF
HybVIO visual-inertial odometry and SLAM system
[3DV 2021] DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
[IROS-21] RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments (Code & Dataset)
An ESKF algorithm for fusing IMU and GNSS data
A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.