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SLAM
Indoor/Outdoor SLAM using Stereo Vision. This project used ORB_SLAM2 with ZED stereo camera to achieve the task of SLAM and has a custom 2D occupancy grid mapping algorithm using depth.
a SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on LIO-SAM paper
A ROS package of DCL-SLAM: Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm.
Point-LIO algorithm for Unitree LiDAR products.
📚 The list of vision-based SLAM / Visual Odometry open source, blogs, and papers
LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO application and …
Full-python LiDAR SLAM using ICP and Scan Context
Python binding of SLAM graph optimization framework g2o
LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS
[RA-L'24] DUFOMap: Efficient Dynamic Awareness Mapping
A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.
ROS implementation of Loop Closure for LiDAR SLAM.
A Robust LiDAR-Inertial Odometry for 3D LiDAR
This is the code repository for the IEEE-RAL'24 paper "FMCW-LIO: A Doppler LiDAR-Inertial Odometry"
Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21
Collection of Papers with Codes: LiDAR Odometry/SLAM, Dynamic Object Removal, and Multiple Map Merging
LiDAR-Inertial Odometry and Mapping using Normal Vectors Towards Robust SLAM in Multifloor Environments
GPU-implementation of HATSDF-SLAM and F-LOAM based TSDF-Mapping
GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2024)
A LiDAR odometry pipeline for wheeled mobile robots
(ICRA 2025 Submitted) LiLoc: Lifelong Localization using Adaptive Submap Joining and Egocentric Factor Graph
Real-time dense scene reconstruction with SLAM3R
EKF-based LiDAR-Inertial Map matching Localization
Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM
3D Multi-Robot Exploration, Patrolling and Navigation.
Effectively Detecting Loop Closures using Point Cloud Density Maps