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

Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

[TMECH'2024] Official codes of the paper. PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation

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.