Search Results for "odometry"
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Showing 14 open source projects for "odometry"
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Isaac ROS Visual SLAM
Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
...Isaac ROS Visual SLAM provides a high-performance, best-in-class ROS 2 package for VSLAM (visual simultaneous localization and mapping). This package uses one or more stereo cameras and optionally an IMU to estimate odometry as an input to navigation. It is GPU-accelerated to provide real-time, low-latency results in a robotics application. VSLAM provides an additional odometry source for mobile robots (ground-based) and can be the primary odometry source for drones. VSLAM provides a method for visually estimating the position of a robot relative to its start position, known as VO (visual odometry). ... -
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Slambook2
edition 2 of the slambook
...The repository teaches the mathematical and programming foundations required to understand visual SLAM implementations. Its C++ exercises cover geometry, Lie theory, cameras, image processing, optimization, visual odometry, mapping, and loop closure. Chapter folders let readers study individual techniques before connecting them into broader localization and mapping pipelines. Supplemental files include errata, exercise solutions, notes, figures, and small demonstrations of matrix and coordinate operations. It is intended for hands-on study and provides a clearer upgrade path than the original edition. -
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FasterLIO
Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry
Faster-LIO is a lightweight, tightly coupled LiDAR-inertial odometry system for pose tracking and point-cloud mapping. It builds on FastLIO2 while replacing key spatial operations with parallel sparse incremental voxels. The design targets high update rates for both solid-state and spinning LiDAR sensors. It fuses LiDAR measurements with inertial data through an iterative Kalman-filter-based estimation pipeline. -
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SLAM in Autonomous Driving Book
SLAM Technology in Autonomous Driving
...It then implements point-cloud processing, nearest-neighbor structures, ICP, NDT, scan matching, occupancy grids, and loop closure. Readers build both loosely coupled and tightly coupled LiDAR-inertial odometry systems. Later modules cover offline mapping, backend optimization, tiled map export, map loading, initialization, and fused real-time localization. The repository includes configuration files, Docker support, demonstrations, and datasets for urban, campus, road, mall, and solid-state LiDAR scenarios. -
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5
slambook
Code for new book about visual SLAM
...The material progresses from Linux, CMake, rigid-body motion, Eigen, Lie groups, and camera models to complete SLAM components. It demonstrates nonlinear optimization with Ceres and g2o, feature-based visual odometry, and direct visual odometry. Later sections cover backend optimization, pose and factor graphs, loop closure, and dense reconstruction. A larger project directory combines concepts that are introduced separately in earlier chapters. The repository is educational rather than a ready-made production system and is distributed under the MIT License. -
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Direct LiDAR-Inertial Odometry
A new lightweight LiDAR-inertial odometry algorithm
DLIO is a new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction. It features several algorithmic improvements over its predecessor, DLO, and was presented at the IEEE International Conference on Robotics and Automation (ICRA) in London, UK in 2023. -
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Direct LiDAR Odometry
A lightweight and computationally-efficient frontend LiDAR odometry
DLO is a lightweight and computationally efficient frontend LiDAR odometry solution with consistent and accurate localization. It features several algorithmic innovations that increase speed, accuracy, and robustness of pose estimation in perceptually challenging environments and has been extensively tested on aerial and legged robots. This work was part of NASA JPL Team CoSTAR's research and development efforts for the DARPA Subterranean Challenge, in which DLO was the primary state estimation component for our fleet of autonomous aerial vehicles. -
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LaMa
LaMa - A Localization and Mapping library
...We provide a fast scan-matching approach to mobile robot localization supported by a continuous likelihood field. It can be used to provide accurate localization for robots equipped with a laser and a not-so-good odometry. Nevertheless, good odometry is always recommended. -
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XIVO
X Inertial-aided Visual Odometry
XIVO is an open-source repository for visual-inertial odometry/mapping. It is a simplified version of Corvis [Jones et al.,Tsotsos et al.], designed for pedagogical purposes, and incorporates odometry (relative motion of the sensor platform), local mapping (pose relative to a reference frame of the oldest visible features), and global mapping (pose relative to a global frame, including loop-closure and global re-localization, this feature, present in Corvis, is not yet incorporated in XIVO). ... -
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Kimera-VIO
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation
Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation. Kimera-VIO is a Visual Inertial Odometry pipeline for accurate State Estimation from Stereo + IMU data. It can optionally use Mono + IMU data instead of stereo cameras. -
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Mono Odometer
Monocular visual odometry system for ground vehicles.
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Robogathers
A simple opensource 3d network game
Robogathers is a 3d game, developed mainly for academic purposes to teach future software engineers with 3d graphic processing, mathematical modelling, networking and multithreading. In the far future we also want to use this project as a base for scientific research in fields of visual odometry, simultaneous localization and mapping and computer vision. The game consist in driving your robot gathering good prizes and avoiding bad ones. The game is multiplayer and during it you can compete with other people via network as well as with AI robots. -
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Rain Bot
[R]obot [a]ware [i]s [n]ot a [Bot]
...This is overall a way to play, learn and share about home made robot :-) v0.11 is currently available with Path Finding A*, motors & sensors emulation, and Robot odometry ;-). Follow its blog here : https://sourceforge.net/p/rainbot/blog/ -
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libnxter is a collection of robot utilities for lego mindstorms nxt robotics kit, written in NXC language, and currently implements: two wheel drive vehicle, odometer, motor control, sonar, integer matrix algebra, vectors, PID control and kalman filter.
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