Displaying 1 to 10 from 10 results

evo - Python package for the evaluation of odometry and SLAM

  •    Python

This package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms. See here for more infos about the formats.

Open3D - Open3D: A Modern Library for 3D Data Processing

  •    C++

Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. We welcome contributions from the open-source community. For more, please visit the Open3D documentation.

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

  •    C++

An updated lidar-initial odometry package, LIO-SAM, has been open-sourced and available for testing. You can use the following commands to download and compile the package.

xivo - X Inertial-aided Visual Odometry

  •    C++

XIVO runs at 140FPS on stored data (here from a RealSense D435i sensor) or on live streams with latency of around 1-7ms, depending on the hardware. It takes as input video frames from a calibrated camera and inertial measurements from an IMU, and outputs a sparse point cloud with attribute features and 6 DOF pose of the camera. It performs auto-calibration of the relative pose between the camera and the IMU as well as the time-stamp alignment. More demos are available here, the aproach is described in this paper. XIVO does not perform post-mortem refinement (bundle adjustment, pose graph optimization), but that can be easily added as post-processing. XIVO is an open-source repository for visual-inertial odometry/mapping. It is a simplified version of Corvis [Jones et al.,Tsotsos et al.], designed for pedagogical purposes, and incorporates odometry (relative motion of the sensor platform), local mapping (pose relative to a reference frame of the oldest visible features), and global mapping (pose relative to a global frame, including loop-closure and global re-localization — this feature, present in Corvis, is not yet incorporated in XIVO).

kitti2bag - Convert KITTI dataset to ROS bag file the easy way!

  •    Python

This package enjoyed significant interest from more people then I could have thought at the beginning. I'm really glad to see that. I see many PRs and issues being raised but my day job does not allow me to push this repository further. In order to allow this package to prosper, I'm opening it up for the community. I'm more than happy to add you as a collaborator to this repository. Just send me an email. And by the way. To ensure we maintain the quality of the repo you are required to get the PR approval from at least one other collaborator. You can use the Gitter to communicate with others.

cupoch - Robotics with GPU computing

  •    C++

Cupoch is a library that implements rapid 3D data processing for robotics using CUDA. The goal of this library is to implement fast 3D data computation in robot systems. For example, it has applications in SLAM, collision avoidance, path planning and tracking. This repository is based on Open3D.

Stereo-Odometry-SOFT - MATLAB Implementation of SOFT algorithm for Stereo Odometry

  •    Matlab

This repository is an implementation of the Stereo Odometry based on careful Feature selection and Tracking, as a part of the course project for Probabilistic Mobile Robotics. NOTE: The implementation here uses synced and rectified stereo images as inputs.

puma - Poisson Surface Reconstruction for LiDAR Odometry and Mapping

  •    Python

Table: Qualitative comparison between the different mapping techniques for sequence 00 of the KITTI odometry benchmark. This repository implements the algorithms described in our paper Poisson Surface Reconstruction for LiDAR Odometry and Mapping.

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