A library for differentiable robotics.
[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.
For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation
[TMECH'2024] Official codes of ”PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation“
Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Distributed Pose Graph Optimization
[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
State Estimation for SLAM: Filter(EKF, Particle Filter), MAP(GN, LM), Solver(Ceres-Solver, G2O, GTSAM), Bundle Adjustment
3D object reconstruction with multi-view RGB-D images.
An offline tool for pose-graph-optimization.
SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation
Maximizing algebraic connectivity for graph sparsification
ROS wrapper for distributed pose graph optimization
toy SLAM pose graph optimization using manhattan dataset and ceres-solver
Motion Averaging
An open source autonomous driving research platform for Active SLAM & Multisensor Data Fusion
Real-Time Monocular Visual SLAM with Pose-graph optimization
本人完成的项目汇总
Stereo Visual Odometry based SLAM demonstrated on the KITTI dataset. Based on OpenCV, Eigen, Sophus, Ceres Solver and ROS.
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