A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
☆308Jul 4, 2023Updated 2 years ago
Alternatives and similar repositories for graph_msf
Users that are interested in graph_msf are comparing it to the libraries listed below
Sorting:
- Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments☆98Dec 8, 2022Updated 3 years ago
- A reinforced LiDAR inertial odometry system provides accurate and robust 6-DoF movement estimation under challenging perceptual condition…☆129Nov 24, 2022Updated 3 years ago
- a Multi-Map LiDAR-Inertial System for Over-Degraded Environments☆156Jul 16, 2025Updated 8 months ago
- ☆308Jan 27, 2026Updated last month
- Continuous preintegration☆132Dec 19, 2025Updated 3 months ago
- A real-time, robust LiDAR-inertial localization system☆231Sep 18, 2022Updated 3 years ago
- Robust Lidar Odometry System☆384Apr 29, 2023Updated 2 years ago
- [IROS'22] Official code repo for "A LiDAR-inertial Odometry with Principled Uncertainty Modeling"☆84Jan 5, 2023Updated 3 years ago
- Tightly-coupled Direct LiDAR-Inertial Odometry and Mapping Based on Cartographer3D.☆325Jul 14, 2023Updated 2 years ago
- Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"☆141Feb 20, 2025Updated last year
- EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry☆172Dec 6, 2023Updated 2 years ago
- A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs☆317Mar 2, 2025Updated last year
- [TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM☆211May 6, 2024Updated last year
- Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry☆404Oct 16, 2023Updated 2 years ago
- A Hash-map based Lidar-Inertial Odometry (A simple reproduction of fastlio 1.0 with Hash-map).☆106Jul 27, 2023Updated 2 years ago
- Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.☆250Jul 22, 2024Updated last year
- Code, data, and results for fusing raw GNSS data with other sensing modalities☆152Jun 15, 2023Updated 2 years ago
- Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation☆382Dec 1, 2025Updated 3 months ago
- [IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking☆223Mar 23, 2024Updated last year
- This is the official repo of the project gnssFGO.☆164Aug 25, 2024Updated last year
- [IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localizat…☆1,020Jun 8, 2024Updated last year
- ☆105Nov 10, 2024Updated last year
- localization and mapping based on multiple sensor fusion☆49Nov 14, 2022Updated 3 years ago
- [IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odom…☆354Jun 16, 2024Updated last year
- [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras☆241Aug 23, 2023Updated 2 years ago
- Minimal, robust, accurate and real-time LiDAR odometry☆326Feb 20, 2026Updated last month
- [ICRA 2025] A LiDAR-inertial odometry utilizing semi-elastic LiDAR-inertial state estimation method☆137May 8, 2024Updated last year
- A collection of GTSAM factors and optimizers for point cloud SLAM☆368Feb 21, 2026Updated last month
- [ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023☆151Aug 16, 2023Updated 2 years ago
- 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
- LiDAR-Inertial Odometry via Simultaneous Ego-motion Estimation and Multiple Object Tracking (ICRA 2023)☆257Dec 7, 2025Updated 3 months ago
- IA-LIO-SAM is enhanced LIO-SAM using Intensity and Ambient channel from OUSTER LiDAR.☆178Jun 25, 2023Updated 2 years ago
- Fast and robust global registration for terrestrial robots @ ICRA2022☆386May 27, 2024Updated last year
- Pointcloud-based graph SLAM written in C++ using open3D library.☆600Jan 12, 2025Updated last year
- [RAL 2023] A globally consistent LiDAR map optimization module☆570May 6, 2024Updated last year
- GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation☆396Dec 27, 2023Updated 2 years ago
- Lidar localization system with prior map constraint and lio constraint based on GTSAM☆49Sep 15, 2022Updated 3 years ago
- K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)☆158May 26, 2024Updated last year
- [RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory☆363Jul 12, 2024Updated last year