Xiang Gao

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Example C++ code organized by chapter for a Chinese textbook on Visual SLAM, the technique robots and self-driving cars use to build a map and locate themselves within it simultaneously using camera images.

edition 2 of the slambook

《自动驾驶中的SLAM技术》对应开源代码

The English version of 14 lectures on visual SLAM.

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

Lidar Localization and Mapping

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code for the rgbd-slam tutorial written in cnblogs

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a stereo-inertial visual odometry

A tutorial about octomap. Please check my blog for detail: cnblogs.com/gaoxiang12

An easy example of doing bundle adjustment within two images using g2o.

English version of slam in autunomous driving

The exercises in Barfoot's book: state estimation for robotics

The second version of RGBD SLAM tutorial. We will discuss more about pnp, tracking, multi-thread and loop closure methods. Please refer to my blog for details: www.cnblogs.com/gaoxiang12 .

A 3d SLAM program, using novel plane ICP

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A collection of resources on modern C++

This is a light weight slam desinged for the stereo sensor zed.

A follower robot program using OpenTLD tracking algorithm. Run in ROS.

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

:zap: Open Internet for everyone. Lantern is a free desktop application that delivers fast, reliable and secure access to the open Internet for users in censored regions. It uses a variety of techniques to stay unblocked, including P2P and domain fronting. Lantern relies on users in uncensored regions acting as access points to the open Internet.

An open autonomous driving platform

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

Monocular Visual-Inertial State Estimator on Mobile Phones

my slam program, based on g2o, opencv and pcl. Trying to run it in Turtlebot.

SLAM using a monocular camera, optionally an IMU, and GPS

[python3.6] 运用tf实现自然场景文字检测,keras/pytorch实现ctpn+crnn+ctc实现不定长场景文字OCR识别

g2o: A General Framework for Graph Optimization

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Code for ICRA21 paper "End-to-end Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB".

Improved version of DBow2

Direct Sparse Odometry

This is a general and scalable framework for visual SLAM. It employs "Double Window Optimization" (DWO).

Implementation of the SLIC superpixel algorithm to work with OpenCV2

Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

Patched fonts for Powerline users.

Learning Compact Binary Descriptors with Unsupervised Deep Neural Networks (CVPR16)

DSOL: Direct Sparse Odometry Lite

A ROS wrapper for libviso2, a library for visual odometry

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Semi-direct Visual Odometry

This repo is for demonstration purposes only.

My study code will be put here.

research code

TSDF-XXOO

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DT

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Implementation of PoseNet