lidar-mapping

This repository provides implementation of an incremental k-d tree for robotic applications.

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

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

[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

[CVPR2023] DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization

Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

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。

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

Python codes for Robot, vpn keyboard control, vpn data exchange, lidar data projection, and much more!

Final Year Project

This is a C++ Uni Bonn course project for SoSe 25, which demonstrates the creation of a 3D occupancy grid map from a series of LiDAR scans taken from the 3D LiDAR sensor - Hesai XT-32, mounted on a ClearPath Husky robotic platform. It leverages modern C++17 features, the Eigen library for linear algebra ops and the Open3D library for visualisation