SLAM实用工具存档

zxl19 2021-05-25

一些在SLAM研究过程中发现的实用工具存档，包括传感器标定、rosbag处理、数据标注、SLAM算法相关内容。

传感器相关

激光雷达数据生成

  1. hku-mars/MARSIM
  2. MartinHahner/LiDAR_fog_sim
  3. SysCV/LiDAR_snow_sim
  4. PJLab-ADG/LiDARSimLib-and-Placement-Evaluation
  5. xiaoaoran/SynLiDAR
  6. ntnu-arl/lidar_simulator
  7. trripy/CARLA_ROS_SLAM
  8. UMich-BipedLab/lidar_simulator

激光雷达内参标定

  1. UMich-BipedLab/LiDAR_intrinsic_calibration

相机内参标定

  1. zhiyuanyou/Calibration-ZhangZhengyou-Method
  2. kushalvyas/CameraCalibration
  3. yxlao/camtools
  4. GREAT-WHU/gv_tools

IMU噪声评估

  1. gaowenliang/imu_utils
  2. ccny-ros-pkg/imu_tools
  3. rpng/kalibr_allan
  4. Kyle-ak/imu_tk
  5. XinLiGH/GyroAllan
  6. LiquidCGS/FastIMU
  7. pcdangio/ros-calibration_imu

激光雷达-相机标定

此类项目较多，搜索LiDAR+camera+calibration即可。

基于MATLAB

  1. UMich-BipedLab/extrinsic_lidar_camera_calibration
  2. zhixy/Laser-Camera-Calibration-Toolbox
  3. Aaron20127/Camera-lidar-joint-calibration
  4. ccyinlu/multimodal_data_studio
  5. UMich-BipedLab/automatic_lidar_camera_calibration
  6. MATLAB Lidar Camera Calibrator

依赖项较多

  1. ankitdhall/lidar_camera_calibration
  2. hku-mars/livox_camera_calib
  3. beltransen/velo2cam_calibration
  4. heethesh/lidar_camera_calibration
  5. Livox-SDK/livox_camera_lidar_calibration
  6. hku-mars/mlcc
  7. acfr/cam_lidar_calibration
  8. mfxox/ILCC
  9. XidianLemon/calibration_camera_lidar
  10. HViktorTsoi/ACSC
  11. hku-mars/joint-lidar-camera-calib
  12. SubMishMar/cam_lidar_calib
  13. OpenCalib/JointCalib
  14. Clothooo/lvt2calib
  15. ram-lab/plycal
  16. swyphcosmo/ros-camera-lidar-calibration
  17. xmba15/automatic_lidar_camera_calibration
  18. AbangLZU/cam_lidar_calibration

激光雷达-IMU标定

  1. ethz-asl/lidar_align
  2. APRIL-ZJU/lidar_IMU_calib
  3. chennuo0125-HIT/lidar_imu_calib
  4. hku-mars/LiDAR_IMU_Init
  5. FENGChenxi0823/SensorCalibration
  6. unmannedlab/imu_lidar_calibration
  7. APRIL-ZJU/OA-LICalib
  8. OpenCalib/LiDAR2INS
  9. liyang-whu/lidar_rtk_calibration
  10. Taeyoung96/GRIL-Calib
  11. chengwei0427/calib_lidar_imu
  12. BohemianRhapsodyz/lidar_imu_calib

相机-IMU标定

  1. ethz-asl/kalibr
  2. hovren/crisp
  3. urbste/OpenImuCameraCalibrator
  4. unmannedlab/camera_imu_calibration

二维激光雷达-相机-轮速计标定

  1. MegviiRobot/CamLaserCalibraTool
  2. MegviiRobot/OdomLaserCalibraTool
  3. MegviiRobot/CamOdomCalibraTool

多激光雷达标定

  1. Livox-SDK/Livox_automatic_calibration
  2. AbangLZU/multi_lidar_calibration

多相机标定

  1. hengli/camodocal
  2. neozhaoliang/surround-view-system-introduction
  3. dyfcalid/CameraCalibration
  4. rameau-fr/MC-Calib
  5. idiap/multicamera-calibration
  6. hjoonpark/MultiCamCalib

多传感器联合标定

  1. PJLab-ADG/SensorsCalibration
  2. tudelft-iv/multi_sensor_calibration
  3. zhixy/multical
  4. PRBonn/extrinsic_calibration
  5. plumewind/online_calibration
  6. peterWon/LVI-ExC
  7. zxl19/Hand_Eye_Extrinsic_Calibration
  8. unmannedlab/camera_imu_lidar_calibration

手眼标定

  1. IFL-CAMP/easy_handeye
  2. zarathustr/SHERWCIC

基准标记

  1. AprilRobotics/apriltag
  2. pal-robotics/aruco_ros
  3. okalachev/arucogen
  4. alicevision/CCTag
  5. AprilRobotics/apriltag_ros
  6. AprilRobotics/apriltag-imgs
  7. UMich-BipedLab/LiDARTag
  8. swatbotics/apriltags-cpp

ROS相关

系统状态监控

  1. uzh-rpg/rpg_vikit
  2. ethz-asl/ros-system-monitor
  3. ethz-asl/linter
  4. ethz-asl/config_utilities
  5. koide3/points_inspector
  6. Tompson11/SLAM_interface

Rviz可视化

  1. ros-visualization/rviz
  2. PickNikRobotics/rviz_visual_tools
  3. nobleo/rviz_satellite
  4. naturerobots/mesh_tools
  5. OctoMap/octomap_rviz_plugins
  6. chengwei0427/simple_gnss_localizer
  7. koide3/rviz_factor_graph_plugins
  8. ros-visualization/interactive_markers
  9. MohitShridhar/rviz_textured_quads

rosbag相关

命令行操作

  1. xqms/rosbag_fancy

制作

  1. tomas789/kitti2bag
  2. AbnerCSZ/lidar2rosbag_KITTI
  3. ethz-asl/kitti_to_rosbag
  4. clynamen/nuscenes2bag
  5. irapkaist/file_player_mulran

内容修改

  1. facontidavide/rosbag_editor
  2. AtsushiSakai/rosbag_filter_gui
  3. tier4/ros2bag_extensions

数据提取

  1. AtsushiSakai/rosbag_to_csv
  2. leofansq/Tools_RosBag2KITTI
  3. amc-nu/rosbag_image_pcd_exporter
  4. zxl19/LiDAR_Camera_Calibration_Preprocess
  5. liuxiao916/rosbag_extract
  6. tiralonghipol/matlab_ws

数据标注

多类型信息多任务

  1. HumanSignal/label-studio
  2. doccano/doccano
  3. UniversalDataTool/universal-data-tool
  4. xtreme1-io/xtreme1

点云

主要针对语义分割标注。

  1. Hitachi-Automotive-And-Industry-Lab/semantic-segmentation-editor
  2. jbehley/point_labeler
  3. ch-sa/labelCloud
  4. springzfx/point-cloud-annotation-tool
  5. halostorm/PCAT_open_source
  6. bernwang/latte
  7. yzrobot/cloud_annotation_tool
  8. RMonica/rviz_cloud_annotation
  9. jbehley/voxelizer
  10. hasanari/sane

图像

主要针对目标检测标注。

  1. tzutalin/labelImg
  2. wkentaro/labelme
  3. AlexeyAB/Yolo_mark
  4. CVHub520/X-AnyLabeling
  5. abreheret/PixelAnnotationTool
  6. Cartucho/OpenLabeling
  7. developer0hye/Yolo_Label
  8. PaddleCV-SIG/EISeg
  9. MATLAB Image Labeler

4D标注

  1. Vector Map Builder-Autoware Tools
  2. facebookresearch/segment-anything
  3. IDEA-Research/GroundingDINO
  4. tusen-ai/SST
  5. hustvl/VMA

SLAM相关

数据集

激光里程计

  1. KITTI Odometry
  2. NeBula-Autonomy/nebula-odometry-dataset
  3. TixiaoShan/Stevens-VLP16-Dataset
  4. RobustFieldAutonomyLab/jackal_dataset_20170608

多传感器融合

  1. SJTU-ViSYS/M2DGR
  2. weisongwen/UrbanNavDataset
  3. weisongwen/UrbanLoco
  4. IPNL-POLYU/UrbanNavDataset
  5. Ford/AVData
  6. epan-utbm/utbm_robocar_dataset
  7. TIERS/tiers-lidars-dataset
  8. HKUST-Aerial-Robotics/GVINS-Dataset
  9. PengYu-Team/S3E
  10. MIT-SPARK/Kimera-Multi-Data
  11. junzhang2016/NTU4DRadLM
  12. MetaSLAM/ALITA
  13. sjtuyinjie/SJTU_GVI
  14. SJTU-ViSYS/M2DGR-plus
  15. chichengcn/gici-open-dataset
  16. ARTI-Robots/mapping_dataset_styria
  17. JinyongJeong/KAIST_URBAN_DATASET
  18. dhchung/pohang_canal_dataset
  19. niuwengang/SimpleBevParkingSlam

点云匹配

  1. WHU-TLS BENCHMARK
  2. ETH PRS
  3. ETH ASL Datasets Repository
  4. Robotic 3D Scan Repository
  5. RESSO
  6. The Stanford 3D Scanning Repository

组合导航

  1. i2Nav-WHU/awesome-gins-datasets

地面分割

  1. url-kaist/Ground-Segmentation-Benchmark

特殊场景

  1. KTH-RPL/DynamicMap_Benchmark
  2. ntnu-arl/lidar_degeneracy_datasets
  3. Viky397/TorWICDataset

车道线重建

  1. OpenDriveLab/OpenLane
  2. OpenDriveLab/OpenLane-V2

位姿表示

  1. Eigen
  2. strasdat/Sophus
  3. artivis/manif
  4. pypose/pypose
  5. EricLengyel/Terathon-Math-Library
  6. orocos/orocos_kinematics_dynamics
  7. brentyi/jaxlie
  8. petercorke/spatialmath-matlab
  9. ethz-asl/minkindr

样条曲线

B样条曲线

  1. orbingol/NURBS-Python
  2. bgrimstad/splinter
  3. polatory/polatory
  4. QianZheng/BSplineFitting
  5. ddemidov/mba
  6. ethz-asl/aslam_splines

贝塞尔曲线

  1. oysteinmyrmo/bezier
  2. chen0040/cpp-spline
  3. blurstudio/TwistSpline
  4. romb-technologies/Bezier
  5. andresbejarano/BezierCurves2D

优化库

非线性优化

  1. ceres-solver/ceres-solver
  2. stevengj/nlopt
  3. facebookresearch/theseus
  4. symforce-org/symforce
  5. PatWie/CppNumericalSolvers
  6. ethz-adrl/ifopt
  7. yixuan/LBFGSpp
  8. ZJU-FAST-Lab/LBFGS-Lite
  9. bbopt/nomad

图优化

  1. RainerKuemmerle/g2o
  2. borglab/gtsam
  3. baidu/ICE-BA
  4. hku-mars/BALM
  5. dongjing3309/minisam
  6. MIT-SPARK/Kimera-RPGO
  7. MegviiRobot/MegBA
  8. hku-mars/HBA
  9. APRIL-ZJU/clins
  10. xipengwang/AprilSAM
  11. cvg/pyceres
  12. zlthinker/STBA
  13. mit-acl/dpgo
  14. APRIL-ZJU/clic
  15. MarineRoboticsGroup/dcsam
  16. srrg-sapienza/srrg2_solver
  17. shaolinbit/minisam_lib
  18. zju3dv/CoLi-BA
  19. ori-drs/isam
  20. utiasASRL/steam
  21. furo-org/p2o
  22. helmayer/RPBA
  23. mit-acl/dpgo_ros
  24. ICRA-2019/MH-iSAM2_lib

优化算法教程

  1. izhengfan/ba_demo_ceres
  2. ydsf16/LevenbergMarquardt
  3. rosskidson/g2o_tutorial
  4. UditSinghParihar/g2o_tutorial
  5. MarineRoboticsGroup/dcsam-examples

模块化框架

二维

  1. cartographer-project/cartographer
  2. cartographer-project/cartographer_ros
  3. SteveMacenski/slam_toolbox
  4. MigVega/Ogm2Pgbm

三维

  1. ethz-asl/maplab
  2. koide3/hdl_graph_slam
  3. ethz-asl/ethzasl_msf
  4. Little-Potato-1990/localization_in_auto_driving
  5. gisbi-kim/lt-mapper
  6. MOLAorg/mola
  7. VIS4ROB-lab/HyperSLAM
  8. leggedrobotics/graph_msf
  9. CogRob/omnimapper
  10. w111liang222/lidar-slam-detection
  11. symao/viola
  12. dfki-ric/slam3d

机器人学算法库

  1. onlytailei/CppRobotics
  2. roboticslibrary/rl
  3. ANYbotics/kindr
  4. PX4/PX4-ECL
  5. giacomo-b/CppRobotics
  6. TUC-ProAut/libRSF
  7. ydsf16/TinyGrapeKit
  8. zhujun98/sensor-fusion
  9. MRPT/mrpt
  10. AtsushiSakai/PythonRobotics
  11. facebookresearch/pyrobot
  12. petercorke/robotics-toolbox-python
  13. AtsushiSakai/MATLABRobotics
  14. JanuszBedkowski/gpu_computing_in_robotics
  15. Le0nX/ModernRoboticsCpp
  16. luigifreda/slamplay
  17. openxrlab/xrslam
  18. CHH3213/chhRobotics_CPP
  19. joansola/slamtb
  20. CHH3213/chhRobotics
  21. jpl-x/x
  22. rsasaki0109/PoseOptimizationSLAM3D
  23. MobileRoboticsSkoltech/mrob
  24. DreamWaterFound/Codes

点云处理

点云处理库

  1. PointCloudLibrary/pcl
  2. isl-org/Open3D
  3. LiangliangNan/Easy3D
  4. kzampog/cilantro
  5. nmwsharp/happly
  6. dimatura/pypcd
  7. CloudCompare/CCCoreLib

点云数据结构

栅格
  1. guillaumechereau/goxel
  2. ANYbotics/grid_map
  3. AcademySoftwareFoundation/openvdb
  4. ethz-asl/voxblox
  5. ethz-asl/segmap
  6. facontidavide/Bonxai
  7. SteveMacenski/spatio_temporal_voxel_layer
  8. tum-vision/fastfusion
  9. ethz-asl/wavemap
  10. ethz-asl/voxblox-plusplus
  11. hku-mars/D-Map
  12. ethz-asl/panoptic_mapping
  13. uestc-icsp/VoxelMapPlus_Public
  14. VIS4ROB-lab/voxfield
  15. ethz-asl/volumetric_mapping
  16. VIS4ROB-lab/voxfield-panmap
树状
KD树
  1. flann-lib/flann
  2. jlblancoc/nanoflann
  3. hku-mars/ikd-Tree
  4. norlab-ulaval/libnabo
  5. storpipfugl/pykdtree
八叉树
  1. OctoMap/octomap
  2. jbehley/octree
  3. zhujun3753/i-octee
  4. gaoxiang12/octomap_tutor
网格
  1. MIT-SPARK/Kimera-VIO
  2. MIT-SPARK/Hydra
  3. hku-mars/ImMesh
  4. lab-sun/SLAMesh
  5. RuanJY/SLAMesh

点云去畸变

  1. ethz-asl/lidar_undistortion
  2. rsasaki0109/lidar_undistortion

点云地面分割

  1. lorenwel/linefit_ground_segmentation
  2. LimHyungTae/patchwork
  3. url-kaist/patchwork-plusplus
  4. VincentCheungM/Run_based_segmentation
  5. YuePanEdward/RoadMarkingExtraction
  6. url-kaist/TRAVEL
  7. jianzhuozhuTHU/putn
  8. KennyWGH/efficient_online_segmentation
  9. ai4ce/peac
  10. victor-amblard/OrientedPointSampling

点云线特征提取

  1. xiaohulugo/3DLineDetection
  2. denabazazian/Edge_Extraction

点云目标检测

  1. PRBonn/depth_clustering
  2. yzrobot/adaptive_clustering
  3. enginBozkurt/LidarObstacleDetection
  4. wangx1996/Lidar-Segementation
  5. SS47816/lidar_obstacle_detector
  6. SiddhantNadkarni/Sensor-Fusion-Lidar-Object-Detection

数据关联

  1. mit-acl/clipper
  2. saebyn/munkres-cpp

点云匹配算法

搜索point cloud registration或者iterative closest point。

基于几何特征

  1. MIT-SPARK/TEASER-plusplus
  2. ethz-asl/libpointmatcher
  3. PRBonn/kiss-icp
  4. SMRT-AIST/fast_gicp
  5. jedeschaud/ct_icp
  6. engcang/SLAM-application
  7. YuePanEdward/MULLS
  8. ethz-asl/robust_point_cloud_registration
  9. gisbi-kim/PyICP-SLAM
  10. yorsh87/nicp
  11. YuePanEdward/GH-ICP
  12. Kitware/pyLiDAR-SLAM
  13. url-kaist/Quatro
  14. koide3/small_gicp
  15. avsegal/gicp
  16. StephLin/KCP
  17. HKUST-Aerial-Robotics/Pagor
  18. Pamphlett/Segregator
  19. zarathustr/FA3R
  20. G3tupup/ctlo
  21. lizimo061/PyLOAM

基于概率分布

  1. neka-nat/probreg
  2. koide3/ndt_omp
  3. Kin-Zhang/simple_ndt_slam

基于特征描述子

  1. nmellado/Super4PCS
  2. STORM-IRIT/OpenGR
  3. thoschm/IRON
  4. WPC-WHU/GROR
  5. chsl/PLADE

基于深度学习

  1. zgojcic/3DSmoothNet
  2. chrischoy/DeepGlobalRegistration
  3. prs-eth/OverlapPredator
  4. zgojcic/3D_multiview_reg
  5. XuyangBai/PointDSC
  6. ai4ce/DeepMapping
  7. ai4ce/DeepMapping2
  8. jac99/MinkLoc3D
  9. csiro-robotics/LoGG3D-Net
  10. leggedrobotics/L3E
  11. jac99/MinkLoc3Dv2

回环检测

  1. gisbi-kim/scancontext_tro
  2. rmsalinas/fbow
  3. hku-mars/STD
  4. TixiaoShan/imaging_lidar_place_recognition
  5. YungeCui/BoW3D
  6. lewisjiang/contour-context
  7. emiliofidalgo/ibow-lcd
  8. JoestarK/LiDAR-Iris
  9. BigMoWangying/LiDAR-Iris
  10. wh200720041/SRLCD
  11. lhanaf/MILD
  12. YungeCui/LinK3D

动态物体去除

基于变化检测

  1. irapkaist/removert
  2. ethz-asl/dynablox
  3. LimHyungTae/ERASOR
  4. hku-mars/M-detector
  5. YZH-bot/RH-Map

基于深度学习

  1. PRBonn/LiDAR-MOS
  2. haomo-ai/MotionSeg3D
  3. MetaSLAM/BioSLAM_server

图像处理

  1. opencv/opencv
  2. kmhofmann/selene
  3. ethz-asl/aslam_cv2
  4. boostorg/gil
  5. FlowCV-org/FlowCV

视觉特征提取关联

  1. magicleap/SuperGluePretrainedNetwork
  2. magicleap/SuperPointPretrainedNetwork
  3. cvg/LightGlue

视觉里程计

基于多视图几何

  1. UZ-SLAMLab/ORB_SLAM3
  2. raulmur/ORB_SLAM2
  3. raulmur/ORB_SLAM
  4. tum-vision/lsd_slam
  5. JakobEngel/dso
  6. rubengooj/pl-slam
  7. jzubizarreta/dsm
  8. versatran01/dsol
  9. srv/viso2
  10. nkwangyh/CubemapSLAM

基于深度学习

  1. Huangying-Zhan/DF-VO
  2. Huangying-Zhan/Depth-VO-Feat
  3. princeton-vl/DPVO
  4. ChiWeiHsiao/DeepVO-pytorch

光流

  1. NVIDIA/flownet2-pytorch
  2. open-mmlab/mmflow

视觉重建

基于多视图几何

  1. VisualSFM
  2. Bundler
  3. colmap/colmap
  4. openMVG/openMVG
  5. autonomousvision/sdfstudio
  6. colmap/glomap
  7. sweeneychris/TheiaSfM
  8. vlarsson/PoseLib
  9. cvg/limap
  10. borglab/gtsfm
  11. Xbbei/super-colmap
  12. HKUST-Aerial-Robotics/MonoLaneMapping

基于深度学习

  1. tinghuiz/SfMLearner
  2. YoYo000/MVSNet
  3. hustvl/MapTR
  4. Tsinghua-MARS-Lab/HDMapNet
  5. PJLab-ADG/neuralsim
  6. Mrmoore98/VectorMapNet_code
  7. haomo-ai/SuperFusion
  8. OpenDriveLab/LaneSegNet
  9. DRosemei/RoMe
  10. ZiYang-xie/MV-Map
  11. Tsinghua-MARS-Lab/vectormapnet

毫米波雷达里程计

  1. christopherdoer/rio
  2. url-kaist/outlier-robust-radar-odometry
  3. gisbi-kim/navtech-radar-slam
  4. aevainc/Doppler-ICP
  5. zhuge2333/4DRadarSLAM
  6. keenan-burnett/yeti_radar_odometry

可视化

可视化界面

  1. stevenlovegrove/Pangolin
  2. koide3/iridescence
  3. yuntianli91/pangolin_tutorial
  4. Tompson11/SLAM_interface

点云可视化

  1. CloudCompare/CloudCompare
  2. nmwsharp/polyscope
  3. sxyu/meshview

时序数据可视化

  1. facontidavide/PlotJuggler

数据集可视化

  1. ori-mrg/robotcar-dataset-sdk
  2. MarkMuth/QtKittiVisualizer
  3. orsalmon/KittiDatasetGPS-INSViewer
  4. irapkaist/file_player

精度评估

  1. MichaelGrupp/evo
  2. pamela-project/slambench
  3. pamela-project/slambench1
  4. MapIV/localization_evaluation_toolkit
  5. anastasiia-kornilova/mom-tools
  6. JokerJohn/Cloud_Map_Evaluation
  7. PetWorm/sim3_evaluate_tool
  8. MobileRoboticsSkoltech/map-metrics

地理坐标系

  1. GeographicLib
  2. ethz-asl/geodetic_utils
  3. OSGeo/gdal
  4. wandergis/coordTransform_py
  5. ue4plugins/UEGeoCoordinates
  6. hobuinc/mgrs
  7. Stellacore/peridetic
  8. chachi/GeoCon

地图匹配定位

激光雷达

  1. koide3/hdl_localization
  2. HViktorTsoi/FAST_LIO_LOCALIZATION
  3. at-wat/mcl_3dl
  4. AbangLZU/ndt_localizer
  5. leggedrobotics/icp_localization
  6. fada-catec/amcl3d
  7. robotics-upo/dll
  8. chengwei0427/Lidar_IMU_Localization
  9. MapIV/iris
  10. rsasaki0109/lidar_localizer
  11. KOKIAOKI/3d_bbs
  12. Livox-SDK/livox_relocalization
  13. uos/rmcl
  14. FAIRSpace-AdMaLL/ndt_localizer

相机

  1. ethz-asl/hfnet
  2. XiaoBaiiiiii/colmap-pcd
  3. MIT-SPARK/Loc-NeRF
  4. lijx10/DeepI2P
  5. TencentYoutuResearch/NeRF-Loc

里程计定位

  1. cggos/imu_x_fusion
  2. 2013fangwentao/Multi_Sensor_Fusion
  3. MapIV/eagleye
  4. i2Nav-WHU/KF-GINS
  5. karanchawla/GPS_IMU_Kalman_Filter
  6. zm0612/eskf-gps-imu-fusion
  7. ydsf16/imu_gps_localization
  8. i2Nav-WHU/OB_GINS
  9. i2Nav-WHU/IC-GVINS
  10. RossHartley/invariant-ekf
  11. libing64/pose_ekf
  12. udacity/robot_pose_ekf
  13. i2Nav-WHU/Wheel-INS
  14. ros-planning/robot_pose_ekf
  15. rsasaki0109/kalman_filter_localization
  16. ethz-asl/odom_predictor
  17. EliaTarasov/ESKF
  18. Guo-ziwei/fusion
  19. ChangwuLiu/InGVIO
  20. i2Nav-WHU/FF-LINS
  21. nadiawangberg/imu_to_odom
  22. Shelfcol/gps_imu_fusion
  23. Fixit-Davide/imu_zupt
  24. Arcanain/eskf_localization
  25. chennuo0125-HIT/imu_gps_fusion
  26. weihsinc/robot_localization
  27. MapIV/hawkeye
  28. LimHaeryong/eskf-gnss-imu-localization

基于路标定位

  1. berndpfrommer/tagslam
  2. ydsf16/aruco_ekf_slam

GNSS数据处理

  1. qgis/QGIS
  2. tomojitakasu/RTKLIB
  3. rtklibexplorer/RTKLIB
  4. weisongwen/GraphGNSSLib
  5. Erensu/ignav
  6. chichengcn/gici-open
  7. rtklibexplorer/rtklib-py
  8. HKUST-Aerial-Robotics/gnss_comm
  9. sgl-ut/gnsstk
  10. Stanford-NavLab/gnss_lib_py
  11. sgl-ut/gnsstk-apps
  12. eagletrt/gpslib

协同SLAM

  1. MISTLab/Swarm-SLAM
  2. VIS4ROB-lab/covins
  3. hrnr/m-explore
  4. NeBula-Autonomy/LAMP
  5. MaverickPeter/MR_SLAM
  6. RobustFieldAutonomyLab/DiSCo-SLAM
  7. PengYu-Team/DCL-SLAM
  8. CogRob/distributed-mapper
  9. hku-mars/Swarm-LIO2
  10. jpl-x/x_multi_agent
  11. csiro-robotics/Forest_Localisation
  12. gingineer95/Multi-Robot-Exploration-and-Map-Merging

AVP

  1. liuguitao/AVP-SLAM-PLUS
  2. TurtleZhong/AVP-SLAM-SIM
  3. JokerEyeAdas/AdasSourrondView

仿真环境

  1. microsoft/AirSim
  2. carla-simulator/carla
  3. eclipse/sumo
  4. ucla-mobility/OpenCDA
  5. MRPT/mvsim

可通行区域

  1. leggedrobotics/traversability_estimation
  2. TixiaoShan/traversability_mapping
  3. suchetanrs/traversability_mapping

轨迹规划

  1. mit-acl/faster
  2. sikang/mpl_ros
  3. HKUST-Aerial-Robotics/EPSILON
  4. LiJiangnanBit/path_optimizer
  5. sikang/motion_primitive_library
  6. LiJiangnanBit/path_optimizer_2
  7. LiJiangnanBit/path_optimizer_ilqr
  8. naturerobots/mesh_navigation
  9. mit-acl/mader
  10. KailinTong/Motion-Planning-for-Mobile-Robots
  11. leggedrobotics/se2_navigation
  12. tesseract-robotics/trajopt
  13. ethz-asl/nbvplanner
  14. ZJU-FAST-Lab/Dftpav
  15. ArghyaChatterjee/gps-waypoint-based-autonomous-navigation-in-ros
  16. libai1943/CartesianPlanner
  17. LIJUNCHENG001/multi_robot_traj_planner
  18. zm0612/Minimum-Snap
  19. SS47816/fiss_planner
  20. qwerty35/swarm_simulator

控制

  1. ethz-adrl/control-toolbox
  2. loco-3d/crocoddyl
  3. pettni/smooth_feedback