A library for differentiable robotics on manifolds.
[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.
[TMECH'2024] PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System
For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation
Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Distributed Pose Graph Optimization
3D object reconstruction with multi-view RGB-D images.
A curated survey and paper list for global solvers in 3D vision: certifiable optimization, convex relaxation, Branch-and-Bound, and robust estimation.
An offline tool for pose-graph-optimization.
SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation
Offline manual loop closure editing and optimization tools for LiDAR mapping pose graphs. 用于激光雷达建图位姿图的离线手动闭环编辑与优化工具。
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
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
An open source autonomous driving research platform for Active SLAM & Multisensor Data Fusion
Real-Time Monocular Visual SLAM with Pose-graph optimization
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