A C++ header-only Eigen-based Library for Lie group operations
☆298Jan 12, 2025Updated last year
Alternatives and similar repositories for Lie-plusplus
Users that are interested in Lie-plusplus are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A C++ header-only Eigen-based Library for equivariant Inertial Measurement Unit (IMU) preintegration☆172Jan 21, 2025Updated last year
- A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation☆133Feb 19, 2025Updated last year
- [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023☆151Aug 16, 2023Updated 2 years ago
- Lie theory for robotics☆206Oct 18, 2024Updated last year
- Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"☆141Feb 20, 2025Updated last year
- This is the code repository for the IEEE-RAL'24 paper "FMCW-LIO: A Doppler LiDAR-Inertial Odometry"☆88May 29, 2025Updated 9 months ago
- Adaptive Graduated Non-Convexity for Pose Graph Optimization☆68Oct 20, 2023Updated 2 years ago
- Rotation only PGO + translation only PGO + 6DOF PGO by ceres☆23Jul 14, 2025Updated 8 months ago
- Minimal, robust, accurate and real-time LiDAR odometry☆326Feb 20, 2026Updated last month
- ☆52Mar 1, 2024Updated 2 years ago
- A state estimation package for Lie groups!☆187Nov 25, 2025Updated 3 months ago
- Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation☆382Dec 1, 2025Updated 3 months ago
- A tightly coupled LIO framework based on the equivariant filter.☆82Sep 14, 2024Updated last year
- A novel fast approximate least squares normal estimator using the structural information of certain LiDAR, is fast and accurate compared …☆99Oct 27, 2023Updated 2 years ago
- A small C++11 header-only library for Lie theory.☆1,741Nov 1, 2025Updated 4 months ago
- Continuous-time lidar, radar, lidar-inertial, and radar-inertial odometry☆253Feb 11, 2026Updated last month
- ☆140Oct 1, 2024Updated last year
- The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.☆112Oct 23, 2025Updated 5 months ago
- A small collection of Kalman Filters on Lie groups☆384Apr 13, 2023Updated 2 years ago
- A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator☆195Aug 16, 2025Updated 7 months ago
- LiDAR degeneracy dataset for LiDAR-radar-inertial fusion methods.☆173Feb 3, 2026Updated last month
- [RSS'23] The official Implementation of "ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes"☆178Jan 14, 2024Updated 2 years ago
- A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis.☆188May 14, 2024Updated last year
- Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Desi…☆57Jan 12, 2025Updated last year
- Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping☆553Dec 30, 2024Updated last year
- Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry☆404Oct 16, 2023Updated 2 years ago
- A collection of GTSAM factors and optimizers for point cloud SLAM☆368Feb 21, 2026Updated last month
- Effectively Detecting Loop Closures using Point Cloud Density Maps☆405Mar 5, 2026Updated 2 weeks ago
- Continuous preintegration☆132Dec 19, 2025Updated 3 months ago
- [TMECH'2024] PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation☆378Jan 21, 2026Updated 2 months ago
- Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.☆250Jul 22, 2024Updated last year
- [ICRA 2024] LiDAR Inertial Mapping Package☆151Dec 12, 2025Updated 3 months ago
- Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)☆140Jan 2, 2024Updated 2 years ago
- A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation☆176May 3, 2024Updated last year
- LiDAR-Inertial Odometry and Mapping using Normal Vectors Towards Robust SLAM in Multifloor Environments☆290Aug 19, 2025Updated 7 months ago
- [IEEE RA-L 2024] River: A Tightly-Coupled Radar-Inertial Velocity Estimator Based on Continuous-Time Optimization☆101Nov 21, 2024Updated last year
- GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)☆456Apr 17, 2025Updated 11 months ago
- Real-Time Simultaneous Localization and Mapping with LiDAR intensity☆152Mar 7, 2024Updated 2 years ago
- [IROS 2024] I2EKF-LO: A Dual-Iteration Extended Kalman Filter based LiDAR Odometry☆268Jul 3, 2024Updated last year