gicp 开源项目推荐（14 个）

koide3 /fast_gicp

A collection of GICP-based fast point cloud registration algorithms

rsasaki0109 /lidar_localization_ros2

3D LIDAR Localization using pointcloud map in ROS 2 (Not SLAM)

rsasaki0109 /li_slam_ros2

ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam

Ikunio /Lidar_nav2_ws

基于 Livox MID-360 3D LiDAR 的 ROS 2 自主导航工作空间，集成 LIO 里程计、重定位、Nav2 导航，支持仿真与实机部署。

Whan000 /MOLA-SLAM

MOLA SLAM for Livox MID-360 LiDAR + ROS2 Humble. Based on Prof. José-Luis Blanco-Claraco's framework. Custom preprocessing & visualization included.

Maverick220141 /Quadruped-ROS2-Navigation

This open-source repository provides a ROS2 mapping, localization, navigation, and obstacle-avoidance engineering system for a quadruped robot running on real hardware.

Kimkyuwon /Pose_Graph_Optimization

LiDAR pose graph optimization with dynamic object removal.

hanzheteng /icp_visualization

Visualize each iteration of ICP-like algorithms in RViz, including residuals, normals, correspondences.

cisprague /pointnetkl

PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric SLAM

UCR-Robotics /correspondence_rviz_plugin

RViz plugin to display lines between point correspondences in two point clouds.

igo320345 /voxel-to-voxel_gicp

Voxel-to-Voxel Generalized ICP for Fast and Accurate LiDAR Odometry

zatakon /lidar-deskew

Motion compensation (deskewing) of lidar scans in MCAP / ROS1 bag recordings – motion estimated from the scans themselves or from a GNSS (KML) track. No ROS needed.

yifanlu0227 /gicp-python

A python binding for C++ gicp.

GoodGSDDU /MATLAB-radar-dataprocess

基于 TI IWR1843 + DCA1000EVM 的毫米波雷达数据处理与建图（MATLAB）：原始 ADC 读取、距离/多普勒/角度处理、CFAR 点云、G-ICP 配准