A fast and robust global registration library for outdoor LiDAR point clouds.
☆316May 29, 2025Updated 9 months ago
Alternatives and similar repositories for G3Reg
Users that are interested in G3Reg are comparing it to the libraries listed below
Sorting:
- Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)☆140Jan 2, 2024Updated 2 years ago
- Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"☆141Feb 20, 2025Updated last year
- a Multi-Map LiDAR-Inertial System for Over-Degraded Environments☆154Jul 16, 2025Updated 7 months ago
- [ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System☆339Aug 21, 2025Updated 6 months ago
- Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry☆401Oct 16, 2023Updated 2 years ago
- [IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking☆221Mar 23, 2024Updated last year
- ☆310Oct 7, 2024Updated last year
- [ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimatio…☆202Mar 6, 2024Updated 2 years ago
- LiDAR-based 3D global registration benchmark.☆94Sep 3, 2023Updated 2 years ago
- [IEEE T-RO 2023] Source code of RING and RING++ for loop closure detection in LiDAR SLAM.☆214Apr 14, 2024Updated last year
- [ICRA 2024] Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning☆170Mar 12, 2024Updated last year
- LiDAR Inertial Mapping Package☆151Dec 12, 2025Updated 2 months ago
- [IROS'22] Official code repo for "A LiDAR-inertial Odometry with Principled Uncertainty Modeling"☆84Jan 5, 2023Updated 3 years ago
- A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.☆185May 14, 2024Updated last year
- ☆308Jan 27, 2026Updated last month
- ☆359Oct 30, 2025Updated 4 months ago
- A probabilistic voxelmap-based LiDAR-Inertial Odometry.☆505Oct 9, 2023Updated 2 years ago
- [RAL 2023] A globally consistent LiDAR map optimization module☆566May 6, 2024Updated last year
- Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation☆383Dec 1, 2025Updated 3 months ago
- Fast and robust global registration for terrestrial robots @ ICRA2022☆386May 27, 2024Updated last year
- [RAL' 25 & IROS‘ 25] MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework.☆439Jul 15, 2025Updated 7 months ago
- 🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)☆453Nov 12, 2024Updated last year
- iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry☆495Oct 14, 2025Updated 4 months ago
- ☆480Oct 25, 2024Updated last year
- [ICRA'24] A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps☆241Apr 21, 2025Updated 10 months ago
- [IROS 2024] I2EKF-LO: A Dual-Iteration Extended Kalman Filter based LiDAR Odometry☆267Jul 3, 2024Updated last year
- LiDAR-Inertial Odometry and Mapping using Normal Vectors Towards Robust SLAM in Multifloor Environments☆288Aug 19, 2025Updated 6 months ago
- LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.☆172Feb 3, 2026Updated last month
- [T-RO 2024] Uni-Fusion: Universal Continuous Mapping☆103Jun 26, 2024Updated last year
- [RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory☆362Jul 12, 2024Updated last year
- [TMECH'2024] Official codes of ”PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estima…☆374Jan 21, 2026Updated last month
- This is the code repository for the IEEE-RAL'24 paper "FMCW-LIO: A Doppler LiDAR-Inertial Odometry"☆88May 29, 2025Updated 9 months ago
- D-Map provides an efficient occupancy mapping approach for high-resolution LiDAR sensors.☆336Oct 18, 2023Updated 2 years ago
- Minimal, robust, accurate and real-time LiDAR odometry☆322Feb 20, 2026Updated 2 weeks ago
- ☆111Sep 11, 2024Updated last year
- [ICRA'24] "A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend"☆72May 6, 2024Updated last year
- A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation☆175May 3, 2024Updated last year
- SOTA LiDAR Global Descriptor in LiDAR Place Recognition (accepted in RA-L'24 w/ ICRA'25)☆185May 13, 2025Updated 9 months ago
- ☆52Mar 1, 2024Updated 2 years ago