scan-matching 开源项目推荐（33 个）

koide3 /fast_gicp

A collection of GICP-based fast point cloud registration algorithms

koide3 /small_gicp

用于点云配准的高效并行算法 [C++, Python]

carlosmccosta /dynamic_robot_localization

用于机器人定位和 3D 感知的点云配准流水线

koide3 /ndt_omp

多线程且对 SSE 友好的 NDT 算法

StephLin /KCP

K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

AlexKaravaev /ros2_laser_scan_matcher

Laser scan matcher ported to ROS2

abougouffa /ndtpso_slam

ROS package for NDT-PSO, a 2D Laser scan matching algorithm for SLAM

cbgl /cbgl

Globally localise your 2D LIDAR in a 2D map in no time [IROS'24]

fourier-scan-matcher /fsm-lidar-odometry

Obtain robust odometry from your noisy panoramic 2D LIDAR [IROS'22]

fourier-scan-matcher /fsm

The Fourier Scan Matcher: a correspondenceless and closed-form matching algorithm for range scans of 2D panoramic LIDAR sensors

sManohar201 /SLAM-Claus-Brenner-Youtube

This repository contains solution for SLAM lectures taught by Claus Brenner on YouTube.

salihmarangoz /basic_scan_matcher

Simple 2D point-to-point scan matcher implemented in Python. Works with ROS1.

hijimasa /oriented_field_localization

3-DoF pose from a single 2D LiDAR scan with no initial guess — ROS 2 global localization by FFT correlation of oriented (wall-normal) fields in image space

SibiAkkash /lidar-scan-matching

该项目在 GitHub 上没有填写描述

wyq0721 /PSM

该项目在 GitHub 上没有填写描述

memre12 /gpu-lidar-localization

GPU-accelerated ROS 2 LiDAR localization using CUDA ICP for real-time map-based 6-DoF pose estimation.

erenceylan16 /atlas-gic

Build and refine AI trading agents that self-improve prompts using market feedback to optimize performance without GPU requirements.

igo320345 /scan_matching

LiDAR Odometry with Scan Matching

igo320345 /voxel-to-voxel_gicp

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

Inkiiee /cpp-2d-navigation-stack

ROS 2 autonomous navigation stack with custom 2D SLAM, A* global planning, local obstacle avoidance, and path tracking in C++.