这篇文章整理了保存在我的github中的仓库，仓库包含了代码和对应的论文。代码基本来自他人的开源成果，我另外添加了十分详细的注释以学习。
点云
A ground estimation algorithm.
2022 Patchwork++ Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
2019 Fast 3D Line Segment Detection From Unorganized Point Cloud
A classical ground estimation algorithm.
2010 Fast Segmentation of 3D Point Clouds for Ground Vehicles
图像
| index | name | description |
|---|---|---|
| 1 | EPnP | |
| 2 | PnPRANAAC |
This code realize how to generate delaunay and voronoi from a series of points. A GUI is included. It works for 2D points, but it’s easy to expand for 3D points.
| index | name | description |
|---|---|---|
| 1 | canny | |
| 2 | prewitt | |
| 3 | roberts | |
| 4 | sobel |
SLAM
2020 RLINS A Lidar_Inertial State Estimator for Robust and Efficient Navigation
2020 LIO SAM - Tightly coupled Lidar Inertial Odometry via Smoothing and Mapping
2018 LeGO-LOAM Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
2014 LOAM Lidar Odometry and Mapping in Real-time
2016 Low-drift and real-time lidar odometry and mapping
2014 LOAM Lidar Odometry and Mapping in Real-time
2016 Low-drift and real-time lidar odometry and mapping
This is a SLAM demo from a zhihuer.
标定
Multi_Chessboard_Corner_Extraction
This code is used to recoganize all chessboards from one image.
This is a sensor calibration tool box from OpenCalib.
融合定位
This is a localization fusion package, which is included in ROS.
其它
| index | name | description |
|---|---|---|
| 1 | example | |
| 2 | c-qt | |
| 3 | displayPC |