利用UcoSLAM对ORB特征和Marker位姿鲁棒估计的特性，改进FAST-LIVO2框架因为激光特征退化导致的偏移问题。更改部分是EKF的VIO部分，将光度误差形式的残差格式改为由Uco提供的pose graph的残差格式，并且放在统一的真实世界尺度下，全局共用一套state状态量，提供了数值稳定的EKF紧耦合修改。充分发挥了marker对Lidar建图提供的效果提升。
☆35Jul 23, 2025Updated last year
Alternatives and similar repositories for Tightly-coupled-UcoSLAM-and-FAST-LIVO2
Users that are interested in Tightly-coupled-UcoSLAM-and-FAST-LIVO2 are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- CuHashSLAM: GPU-Accelerated LiDAR-IMU SLAM with Parallel Voxel Hash Tables (based on FAST-LIVO2)☆47Aug 28, 2025Updated 11 months ago
- ☆62Aug 4, 2025Updated last year
- 从小白的视角去分析多源融合SLAM的SOTA框架☆317Aug 3, 2025Updated last year
- Point-line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes☆61Oct 8, 2025Updated 10 months ago
- ☆81Nov 19, 2025Updated 8 months ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- A Real time LiDAR-Visual-Inertial object level semantic SLAM for Forest Environments☆14Dec 2, 2024Updated last year
- ☆26Oct 17, 2025Updated 9 months ago
- [IEEE RA-L & ICRA 2026] Semantic-Driven Voxel Representation for LiDAR–Inertial Odometry☆53May 27, 2026Updated 2 months ago
- A Vision-Lidar SLAM☆21Apr 19, 2026Updated 3 months ago
- FAST-LIO of dynamic object removal based on optical path principle☆33Aug 13, 2024Updated 2 years ago
- Livox激光雷达与海康相机的硬件时间同步☆30Apr 16, 2025Updated last year
- 优雅的 Fast-LIO2：基于官方版完全重构，代码风格重写，合理的模块划分，清晰的代码架构，ROS层与算法层解耦，Easy-To-Learn，Easy-To-Use。☆47Oct 27, 2023Updated 2 years ago
- POINT-LIO + FAST-LIVO2 : motion deskewing, state estimation of POINT-LIO + VIO of FAST-LIVO2☆63Jun 11, 2025Updated last year
- FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry☆142Mar 18, 2026Updated 4 months ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- FAST-LIVO2中文说明版，方便大家研究☆72Jun 4, 2025Updated last year
- ☆23Sep 23, 2025Updated 10 months ago
- Robust Ground Constrained SLAM for Mobile Robot With Sparse-Channel LiDAR 2024 TIV☆38Sep 13, 2024Updated last year
- Fusing GNSS and wheel measurements based on FAST-LIO and IKFOM☆326Apr 12, 2026Updated 4 months ago
- ☆48Mar 24, 2025Updated last year
- A High-Rate, Robust, Kinematic-Inertial-LiDAR Odometry for Humanoid Robots☆50Mar 8, 2026Updated 5 months ago
- ☆116Nov 19, 2024Updated last year
- [RA-L 2026] R-VoxelMap: Accurate Voxel Mapping with Recursive Plane Fitting for Online LiDAR Odometry☆158Jun 2, 2026Updated 2 months ago
- [RA-L'25 & IROS'25] II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping☆204Jan 5, 2026Updated 7 months ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- FAST-LIVO2 with RTK/GNSS-constrained Global Optimization.☆241Jul 19, 2026Updated 3 weeks ago
- 降低内存以及cpu占有率☆23Mar 27, 2026Updated 4 months ago
- Dynamic Initialization for LiDAR-inertial SLAM☆161Apr 16, 2025Updated last year
- BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure☆178Mar 20, 2026Updated 4 months ago
- DALI-SLAM: Degeneracy-Aware LiDAR-inertial SLAM with novel distortion correction and accurate multi-constraint pose graph optimization☆96Sep 10, 2025Updated 11 months ago
- [IJRR'2026] DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registeration☆264Jun 22, 2026Updated last month
- This repository contains the official implementation of Omni-LIVO, a tightly-coupled multi-camera LiDAR-Inertial-Visual Odometry system t…☆145Jul 13, 2026Updated last month
- ☆47Sep 16, 2025Updated 10 months ago
- A Combined SLAM and Localization System for both RADAR and LiDAR☆32Updated this week
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- An odyssey through inertial navigation on Lie groups. LieOdyssey is a lightweight, research-friendly toolkit for IMU preintegration and s…☆83Jul 30, 2026Updated 2 weeks ago
- ☆22Sep 25, 2024Updated last year
- fastlio+rtk+speed,ieskf☆179Jan 15, 2026Updated 7 months ago
- ☆82Jan 19, 2026Updated 6 months ago
- A SLAM system that integrates FAST-LIO2 frontend with LIO-SAM-style backend, supporting extended LiDARs, and compatible with ROS1/ROS2.☆33Aug 8, 2026Updated last week
- Real-time voxel mapping from Fast-LIO odometry using NVIDIA NVBlox on ROS 2. Converts LiDAR point clouds + Fast-LIO poses into TSDF/ESDF …☆27Dec 10, 2025Updated 8 months ago
- [T-IM 2025] TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal☆167Apr 7, 2025Updated last year