SiChiTong / Tightly-coupled-UcoSLAM-and-FAST-LIVO2View external linksLinks
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。
☆25Jul 23, 2025Updated 6 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
Sorting:
- Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry (IROS2025)☆29Jun 16, 2025Updated 7 months ago
- fastlio+rtk+speed,ieskf☆126Jan 15, 2026Updated 3 weeks ago
- A LiDAR-inertial odometry (LIO) package with lidar bundle adjustment algorithm☆36Sep 10, 2024Updated last year
- FAST-LIO of dynamic object removal based on optical path principle☆29Aug 13, 2024Updated last year
- Point-LIO / point_lio / mid360 / 100hz☆32Oct 22, 2024Updated last year
- [IEEE/CVF CVPR 2025] Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views☆25Feb 5, 2026Updated last week
- ☆14Aug 18, 2024Updated last year
- RTT-LIO is a Wi-Fi RTT-aided LiDAR-Inertial Odometry via Tightly-Coupled Factor Graph Optimization for UAS☆16Dec 16, 2025Updated last month
- Visual representation and example of pairwise consistency maximization of factor-graph (Pose-graph). Currently WIP☆15Nov 12, 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
- ☆18Feb 27, 2025Updated 11 months ago
- FAST-LIVO2中文说明版，方便大家研究☆57Jun 4, 2025Updated 8 months ago
- ceres implementation of switchable constraints for robust pose graph slam☆15Nov 16, 2019Updated 6 years 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
- edit fast-lio for gravity align☆18Feb 17, 2025Updated 11 months 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
- a novel targetless extrinsic calibration method for dual LiDARs, addressing non-overlapping fields of view and imprecise initial paramet…☆23Jun 18, 2025Updated 7 months ago
- Decentralized Multi-Robot Graph Simultaneous Localization and Mapping☆19Oct 1, 2025Updated 4 months ago
- Package created to extract data from rosbags using rosbag API☆20Sep 11, 2024Updated last year
- Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy☆18Dec 5, 2024Updated last year
- FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry☆105Dec 31, 2025Updated last month
- (ICRA'25) "SLAMSpoof: Practical LiDAR Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis"☆24Aug 8, 2025Updated 6 months ago
- project LiDAR point clouds to 360 panorama☆23Nov 11, 2024Updated last year
- ☆80Jan 19, 2026Updated 3 weeks ago
- ☆43Sep 16, 2025Updated 4 months ago
- Dynamic Initialization for LiDAR-inertial SLAM☆153Apr 16, 2025Updated 9 months ago
- [RA-L'25 & IROS'25] II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping☆185Jan 5, 2026Updated last month
- The Mercator Descriptor: A Novel Global Descriptor for Loop Closure Detection☆23Mar 28, 2025Updated 10 months ago
- FASTLIO2 based on Voxel Map☆53Apr 15, 2024Updated last year
- 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
- PRIOR-SLAM: Enabling Visual SLAM for Loop Closure under Large Viewpoint Variations☆70Aug 10, 2024Updated last year
- Official page for MSA (Minimal Subset Approach for Informed Keyframe Sampling), accepted @ RA-L'25, to be presented @ ICRA'26☆22Jan 9, 2026Updated last month
- General LiDAR-Only Odometry with High Efficiency and Low Drift☆27Feb 8, 2025Updated last year
- DALI-SLAM: Degeneracy-Aware LiDAR-inertial SLAM with novel distortion correction and accurate multi-constraint pose graph optimization☆74Sep 10, 2025Updated 5 months ago
- Robustness metric for odometry and SLAM system☆39Nov 26, 2025Updated 2 months ago
- LVI-SAM with teaser++, multi-threads gicp and scan context☆26Dec 30, 2023Updated 2 years ago
- Code for RA-L paper "Multi-Robot Object SLAM using Distributed Variational Inference"☆26May 9, 2024Updated last year
- This repo contains the implementation of elevation mapping cupy for ros2 humble. The package works for x64 architecture and ARM arch for …☆38Jan 20, 2026Updated 3 weeks ago
- RA-L 2025, A fast, efficient, and robust registration-based 6-DoF global localization method in urban environments, requiring no initial …☆33Mar 7, 2025Updated 11 months ago