Pinned Repositories
AVP-SLAM-SIM
A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813
camera_lidar_calibration
A tool used for calibrate the extrinsic between 2D laser range finder (LRF) and camera. ROS Version: https://github.com/TurtleZhong/camera_lidar_calibration_v2
camera_lidar_calibration_v2
ROS VERSION: A tool used for calibrate 2D laser range finder (LRF) and camera.version1：https://github.com/TurtleZhong/camera_lidar_calibration
hfnet_ros
A cpp or ROS Warpper of HF-NET inference part (https://github.com/ethz-asl/hfnet)
LVIO-SAM
A Multi-sensor Fusion Odometry via Smoothing and Mapping.
Map-based-Visual-Localization
A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.
msckf_mono
VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0
PoseGraph-Ceres
An offline tool for pose-graph-optimization.
Projects-Summary
本人完成的项目汇总
Visual-Inertial-Synchronization-Hardware
This project aims to hardware-synchronize camera and IMU so that both use the same (millisecond precise) time base.
TurtleZhong's Repositories
TurtleZhong/LVIO-SAM
A Multi-sensor Fusion Odometry via Smoothing and Mapping.
TurtleZhong/Gazebo-models-generator
A tool using to generate Gazebo models from 3D models.(Sketchup files, *.dae, *.obj, *.stl, etc.)
TurtleZhong/LIO-SEGMOT
LiDAR-Inertial Odometry via Simultaneous Ego-motion Estimation and Multiple Object Tracking (ICRA 2023)
TurtleZhong/SurroundCameraCalib
TurtleZhong/direct_lidar_inertial_odometry
[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
TurtleZhong/street-gaussians-ns
Unofficial implementation of "Street Gaussians for Modeling Dynamic Urban Scenes"
TurtleZhong/lvio_fusion
Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)
TurtleZhong/plane_seg
Plane Segmentation Utilites
TurtleZhong/apollo
An open autonomous driving platform
TurtleZhong/LIMO-Velo
A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs
TurtleZhong/nerf_pl
NeRF (Neural Radiance Fields) and NeRF in the Wild using pytorch-lightning
TurtleZhong/UrbanNavDataset
UrbanNav:An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
TurtleZhong/Vehicle-CV-ADAS
The project can achieve FCWS, LDWS, and LKAS functions solely using only visual sensors. using YOLOv5 / YOLOv5-lite / YOLOv8 and Ultra-Fast-Lane-Detection-v2 .
TurtleZhong/allan_variance_ros
ROS compatible tool to generate Allan Deviation plots
TurtleZhong/DABA
Official implementation of "Decentralization and Acceleration Enables Large-Scale Bundle Adjustment"
TurtleZhong/direct_lidar_odometry
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
TurtleZhong/DNMP
sync
TurtleZhong/elevation_mapping_cupy
Elevation Mapping on GPU.
TurtleZhong/FAST-LIVO
A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.
TurtleZhong/gbplanner_ros
Graph-based Exploration Planner for Subterranean Environments
TurtleZhong/graph_msf
TurtleZhong/Learn-Vim_zh_cn
TurtleZhong/nekoray
Qt based cross-platform GUI proxy configuration manager (backend: v2ray / sing-box)
TurtleZhong/ov_hloc
using hloc for loop closure in SLAM
TurtleZhong/r2live
R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.
TurtleZhong/raw-gnss-fusion
Code, data, and results for fusing raw GNSS data with other sensing modalities
TurtleZhong/ros2_cookbook
Code snippets for ROS2
TurtleZhong/sfm-disambiguation-colmap
Making Structure-from-Motion (COLMAP) more robust to symmetries and duplicated structures
TurtleZhong/TurtleZhong
About me.
TurtleZhong/TurtleZhong.github.io