FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving

Arduino sketches for MPU9250 9DoF with AHRS sensor fusion

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

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

alfred-py: A deep learning utility library for **human**, more detail about the usage of lib to: https://zhuanlan.zhihu.com/p/341446046

X Inertial-aided Visual Odometry

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰

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

HybVIO visual-inertial odometry and SLAM system

Predict dense depth maps from sparse and noisy LiDAR frames guided by RGB images. (Ranked 1st place on KITTI) [MVA 2019]

A highly robust and accurate LiDAR-inertial odometry package

Official code for "EagerMOT: 3D Multi-Object Tracking via Sensor Fusion" [ICRA 2021]

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.