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Search results for c plus plus lidar

362 search results found

Awesome Robotic Tooling ⭐ 2,777

Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.

Lio Sam ⭐ 2,725

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Fast_lio ⭐ 2,022

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

Lego Loam ⭐ 2,002

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

A Loam ⭐ 1,803

Advanced implementation of LOAM

Hdl_graph_slam ⭐ 1,566

3D LIDAR-based Graph SLAM

GAAS is an open-source program designed for fully autonomous VTOL(a.k.a flying cars) and drones. GAAS stands for Generalized Autonomy Aviation System.

Lidar_camera_calibration ⭐ 1,187

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

Loam_velodyne ⭐ 909

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

Onboard Sdk ⭐ 868

DJI Onboard SDK Official Repository

Lastools ⭐ 795

efficient tools for LiDAR processing

Depth_clustering ⭐ 778

🚕 Fast and robust clustering of point clouds generated with a Velodyne sensor.

Lidar-Monocular Visual Odometry

Lidar_imu_calib ⭐ 694

Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

Dynamic_robot_localization ⭐ 660

Point cloud registration pipeline for robot localization and 3D perception

Breezyslam ⭐ 650

Simple, efficient, open-source package for Simultaneous Localization and Mapping

Direct_lidar_odometry ⭐ 642

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

Semantic_suma ⭐ 621

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square [ICRA '21]

Velodyne ⭐ 570

ROS support for Velodyne 3D LIDARs

Hdl_localization ⭐ 570

Real-time 3D localization using a (velodyne) 3D LIDAR

An efficient and consistent bundle adjustment for lidar mapping

Loam_livox ⭐ 466

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

Livox Sdk ⭐ 459

Drivers for receiving LiDAR data and more, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.

The open-source tool for creating 3D models

Scancontext ⭐ 458

Global LiDAR descriptor for place recognition and long-term localization

Tracking With Extended Kalman Filter ⭐ 451

Object (e.g Pedestrian, vehicles) tracking by Extended Kalman Filter (EKF), with fused data from both lidar and radar sensors.

Sc Lio Sam ⭐ 444

LiDAR-inertial SLAM: Scan Context + LIO-SAM

Mcl_3dl ⭐ 441

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.

Lili Om ⭐ 433

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

Ouster_example ⭐ 432

Ouster, Inc. sample code

Lio_sam_6axis ⭐ 420

LIO_SAM for 6-axis IMU and GNSS.

Velo2cam_calibration ⭐ 412

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.

Linefit_ground_segmentation ⭐ 412

Ground Segmentation from Lidar Point Clouds

Patchwork Plusplus ⭐ 397

Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

Patchwork ⭐ 381

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)

Open3d_slam ⭐ 376

Pointcloud-based graph SLAM written in C++ using open3D library.

Multiple Object Tracking Lidar ⭐ 375

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud

Rslidar_sdk ⭐ 373

RoboSense LiDAR SDK for ROS & ROS2

Lio Mapping ⭐ 372

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

CT-ICP: Continuous-Time LiDAR Odometry

Lidarslam_ros2 ⭐ 365

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization

Direct_lidar_inertial_odometry ⭐ 339

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

Livox_mapping ⭐ 336

A mapping package for Livox LiDARs

Lidar Slam Detection ⭐ 328

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

[ICRA2021] A low-cost SLAM system based on camera and Livox lidar.

Livox Mapping ⭐ 316

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR

Direct_visual_lidar_calibration ⭐ 314

A toolbox for target-less LiDAR-camera calibration [ROS1/ROS2]

Voxgraph ⭐ 314

Voxblox-based Pose graph optimization

Livox_ros_driver ⭐ 308

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.

LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation

A Modular Optimization framework for Localization and mApping (MOLA)

Staticmapping ⭐ 289

Use LiDAR to map the static world

The Point Processing Toolkit (pptk) is a Python package for visualizing and processing 2-d/3-d point clouds.

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

C++ library and programs for reading and writing ASPRS LAS format with LiDAR data

Sfnd_lidar_obstacle_detection ⭐ 278

3d Lidar Multi Object Tracking ⭐ 267

🔥3D-MOT(点云多目标检测和追踪C++) （2020 · 秋）代码有详细注解

Veloview ⭐ 265

VeloView performs real-time visualization and easy processing of live captured 3D LiDAR data from Velodyne sensors (Alpha Prime™, Puck™, Ultra Puck™, Puck Hi-Res™, Alpha Puck™, Puck LITE™, HDL-32, HDL-64E). Runs on Windows, Linux and MacOS. This repository is a mirror of https://gitlab.kitware.com/LidarView/VeloView-Velo

Sc Lego Loam ⭐ 256

LiDAR SLAM: Scan Context + LeGO-LOAM

Urban_road_filter ⭐ 251

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Dsp Slam ⭐ 248

[3DV 2021] DSP-SLAM: Object Oriented SLAM with Deep Shape Priors

Patchwork Plusplus Ros ⭐ 247

ROS & ROS2 Implementation of Patchwork++

Iscloam ⭐ 231

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020

Detection and Tracking of Moving Objects (DATMO) using sensor_msgs/Lidar.

Li_slam_ros2 ⭐ 223

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

Displaz ⭐ 220

A hackable lidar viewer

Lidar_align ⭐ 215

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation

Openlidar ⭐ 203

DIY 3D LiDAR Scanner

Lins Lidar Inertial Slam ⭐ 200

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

Multi_sensor_calibration ⭐ 199

Lt Mapper ⭐ 189

A Modular Framework for LiDAR-based Lifelong Mapping

LOL: Lidar-only Odometry and Localization in 3D point cloud maps

Lidarview ⭐ 188

LidarView performs real-time reception, recording, visualization and processing of 3D LiDAR data. This repository is a mirror of https://gitlab.kitware.com/LidarView/lidarview.

Rangenet_lib ⭐ 188

Inference module for RangeNet++ (milioto2019iros, chen2019iros)

Lidar_localization_ros2 ⭐ 169

3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)

Removert ⭐ 162

Remove then revert (IROS 2020)

DLL: Direct Lidar Localization

Signal Server ⭐ 153

Multi-threaded RF coverage calculator

Sensor Fusion ⭐ 150

Kalman filters (KF, EKF, UKF), LIDAR object detection

Icp_localization ⭐ 140

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

Hdl_people_tracking ⭐ 139

Real-time people tracking using a 3D LIDAR

Lidar Camera Fusion ⭐ 134

The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera.

Lio Ppf ⭐ 134

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

Fusion Ukf ⭐ 133

An unscented Kalman Filter implementation for fusing lidar and radar sensor measurements.

Md_slam ⭐ 127

MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assumption. Universal approach, working independently for RGB-D and LiDAR.

An efficient, extensible occupancy map supporting probabilistic occupancy, normal distribution transforms in CPU and GPU.

Lidar_imu_localization ⭐ 125

Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

Cam_lidar_calib ⭐ 123

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

T-LOAM: Truncated Least Squares Lidar-only Odometry and Mapping in Real-Time

Sc A Loam ⭐ 119

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

Online_learning ⭐ 116

Online Learning for Human Detection in 3D Point Clouds

Hesailidar_general_ros ⭐ 115

ROS driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B

Livox_automatic_calibration ⭐ 114

An automatic calibration algorithm for livox LiDAR

Ground Segmentation Benchmark ⭐ 113

Ground segmentation benchmark in SemanticKITTI dataset

Racecar_simulator ⭐ 111

A lightweight simulator of the MIT Racecar.

Rs_to_velodyne ⭐ 108

A ros tool for converting Robosense pointcloud to Velodyne pointcloud format.

Utbm_robocar_dataset ⭐ 107

EU Long-term Dataset with Multiple Sensors for Autonomous Driving

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