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。
☆26Jul 23, 2025Updated 8 months ago
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)☆30Aug 28, 2025Updated 6 months ago
- Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry (IROS2025)☆30Jun 16, 2025Updated 9 months ago
- A LiDAR-inertial odometry (LIO) package with lidar bundle adjustment algorithm☆38Sep 10, 2024Updated last year
- fastlio+rtk+speed,ieskf☆136Jan 15, 2026Updated 2 months ago
- FAST-LIO of dynamic object removal based on optical path principle☆30Aug 13, 2024Updated last year
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- [RA-L'25 & IROS'25] II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping☆188Jan 5, 2026Updated 2 months ago
- ☆14Aug 18, 2024Updated last year
- ceres implementation of switchable constraints for robust pose graph slam☆15Nov 16, 2019Updated 6 years ago
- 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。☆46Oct 27, 2023Updated 2 years ago
- Point-LIO / point_lio / mid360 / 100hz☆31Oct 22, 2024Updated last year
- Sweet pepper detection+segmentation+tracking via YOLOv8 for ROS1☆15Dec 6, 2023Updated 2 years ago
- RTT-LIO is a Wi-Fi RTT-aided LiDAR-Inertial Odometry via Tightly-Coupled Factor Graph Optimization for UAS☆16Dec 16, 2025Updated 3 months ago
- Dynamic Initialization for LiDAR-inertial SLAM☆154Apr 16, 2025Updated 11 months ago
- A thorough survey of SLAM in dynamic environments: covering topics of front-end odometry / loop-closure / mapping, single-session / long-…☆16May 25, 2024Updated last year
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- coffeeCup是一个基于点云的马克杯识别的演示程序☆13Oct 24, 2018Updated 7 years ago
- ☆81Jan 19, 2026Updated 2 months ago
- A blazing-fast, modern C++ multi-object tracking library featuring SORT, ByteTrack, OC-SORT, BoostTrack, and more built for real-time per…☆35Feb 7, 2026Updated last month
- [IEEE/CVF CVPR 2025] Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views☆26Feb 5, 2026Updated last month
- A fast method used sliding window filter frame work for RTK-Visual-Inertial-Navigation☆11Feb 13, 2024Updated 2 years ago
- DALI-SLAM: Degeneracy-Aware LiDAR-inertial SLAM with novel distortion correction and accurate multi-constraint pose graph optimization☆76Sep 10, 2025Updated 6 months ago
- a novel targetless extrinsic calibration method for dual LiDARs, addressing non-overlapping fields of view and imprecise initial paramet…☆23Jun 18, 2025Updated 9 months ago
- Visual representation and example of pairwise consistency maximization of factor-graph (Pose-graph).☆16Feb 28, 2026Updated 3 weeks ago
- FASTLIO2 based on Voxel Map☆54Apr 15, 2024Updated last year
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- DASM-LIO: Fast and Accurate LiDAR-Inertial Odometry with Distribution-Adaptive Surfel Map☆16Apr 7, 2025Updated 11 months ago
- ROS package for semantic segmentation☆32Apr 25, 2025Updated 11 months ago
- FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry☆117Mar 18, 2026Updated last week
- Simultaneous Closed-Chain Calibration: Generalized Optimization, Global Solutions and Applications☆23Feb 23, 2026Updated last month
- LVI-SAM with teaser++, multi-threads gicp and scan context☆25Dec 30, 2023Updated 2 years ago
- 2024 TIV☆38Sep 13, 2024Updated last year
- A simple localization framework that can re-localize in built maps based on POINT-LIO. This fork works with ROS Noetic (and Python3)☆18Sep 11, 2024Updated last year
- 结合YOLO目标检测的激光图像目标检测SLAM项目☆77Jul 12, 2023Updated 2 years ago
- Nano-GICP as a module from the official github repo: [IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odo…☆57Jan 13, 2024Updated 2 years ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration☆209Mar 17, 2026Updated last week
- edit fast-lio for gravity align☆20Feb 17, 2025Updated last year
- Decentralized Multi-Robot Graph Simultaneous Localization and Mapping☆19Oct 1, 2025Updated 5 months ago
- FAST-LIVO2中文说明版，方便大家研究☆58Jun 4, 2025Updated 9 months ago
- An example implementation of a ROS to Rerun bridge☆39Oct 17, 2024Updated last year
- Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy☆18Dec 5, 2024Updated last year
- Lifelong SLAM in Dynamic and Semi-dynamic Environments☆23Jan 30, 2021Updated 5 years ago