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Estimation & Control Library for Guidance, Navigation and Control Applications
Drivers for receiving LiDAR data and more, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
An Adaptive Tightly-coupled Motion Estimator for Multi-LiDAR, Multi-Camera, and Multi-IMU Systems via Continuous-time Optimization
[ICRA 2025] Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
Ground-Fusion++: a modular sensor-fusion SLAM system(IROS2025)
River2: A Tightly-coupled Multi-Radar Multi-IMU Velocity Estimator Based on Continuous-time Optimization
Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System
RIO - EKF-based Radar Inertial Odometry using 4D mmWave radar sensors
[ICRA 2025 Best Paper Award Finalist] Ground-Optimized 4D Radar-Inertial Odometry via Continuous Velocity Integration using Gaussian Process
REVE - Radar Ego Velocity Estimator: Robust 3D ego velocity estimation using 4D mmWave radar sensors.
[T-ASE 2025] This is the official implementation of RINO: Accurate, Robust Radar-Inertial Odometry with Non-Iterative Estimation.
Graph-based, sparse radar-inertial odometry estimation
[TPAMI] GROR:A New Outlier Removal Strategy Based on Reliability of Correspondence Graph for Fast Point Cloud Registration
IMU Allan standard deviation charts for use with Kalibr and inertial kalman filters.
A Calibration Method for IMU, LiDAR, and Camera Intrinsic and Extrinsic Parameters
STORM-IRIT / OpenGR
Forked from nmellado/Super4PCSOpenGR: A C++ library for 3D Global Registration
A ROS package tool to analyze the IMU performance.
fast-lio with loop factor and gps factor for back end optimization.
Collection of dockerized plane extraction methods for 3D data
A large scale non-linear optimization library
Efficient RANSAC for Point-Cloud Shape Detection
A 3D point cloud registration and localization method based on voxel plane features