Service Robotics Lab

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1. hunav_sim hunav_sim Public

   A simulator of human navigation behaviors for Robotics based on ROS2

   C++ 153 26

2. D-LIO D-LIO Public

   D-LIO: 6DoF Direct LiDAR-Inertial Odometry based on Simultaneous Truncated Distance Field Mapping

   C++ 133 5

3. G-EDF-Loc G-EDF-Loc Public

   A robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registra- tion pipeline. The system leverages G-EDF, a novel continuous and memory-efficient 3D distance field represe…

   C++ 29

4. DB-TSDF DB-TSDF Public

   DB-TSDF is a high-efficiency, CPU-only volumetric mapping framework based on directional bitmask encoding of Truncated Signed Distance Fields (TSDF). It fuses LiDAR point clouds into dense 3D maps …

   C++ 41 9

5. 4D-Radar-Odom 4D-Radar-Odom Public

   4D-Radar-Odom is an open-source ROS2 Humble package for estimating 3D odometry using 4D radar and IMU data. It is designed to operate in challenging environments where traditional sensors like LiDA…

   C++ 66 11

6. gaussian-rio-cpp gaussian-rio-cpp Public

   Gaussian RIO 2.0 - now in C++ and more ROS friendly

   C++ 27 4