pose-graph 开源项目推荐（10 个）

ThomasZB /EvergreenSLAM

Always-on 2D lidar SLAM with named places, as a spatial memory for LLM agents

rsasaki0109 /aqua_localization

面向真实 AUV/ROV 数据的 ROS 2 水下定位，已在公开海洋数据集上验证。

YeonkyunLee /sensor-fusion-lab

Kalman filter state estimation for robotics from a DSP angle — tracking + position/IMU fusion with sensor-outage robustness

krabduke /posegraph

2D SLAM back-end: least-squares pose-graph optimisation on the SE(2) manifold.

JingruiYu /dual-view-semantic-slam

Research prototype for semantic visual SLAM with front-view observations, BEV geometry, and pose-graph optimization.

matejpopovski /loopclosure

2D LiDAR graph SLAM from first principles in Rust: scan matching, loop closure and sparse Cholesky with no SLAM crates, compiled to WebAssembly so the map builds live in a browser.

YuvalAmir1551 /stereo-visual-slam

Stereo visual odometry and SLAM on KITTI sequence 00 — feature tracking, PnP-RANSAC odometry, GTSAM bundle adjustment, pose-graph optimization, and loop closure, plus a deep-learning front-end study that halves open-loop drift.

FERBIN12 /lidar-slam-scan-matching-ros2

2D LiDAR SLAM from scratch in NumPy/SciPy for ROS 2 Jazzy + Gazebo: ICP, point-to-line, robust losses, correlative matching, pose graph, with 42 measured experiments

kapi0okapi /lidar-slam

KISS-ICP odometry implemented from the paper, Scan Context loop closure and a pose graph - next to the authors' own package on KITTI.

WhaSukGO /lodestar

A 3D testbed that verifies SLAM: a ground-truth generator + geometric oracle that grades pose-graph / VO / full-SLAM algorithms on a hidden trajectory. Built on the Touchstone verifier.