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/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.
TurtleZhong/AVP-SLAM-SIM
A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813
TurtleZhong/ESKF-All-in-One-Open
Error State Kalman Filter All in One, from Theory to Practice.
TurtleZhong/avp-bev-open
A pkg stiching around view images(4-6cameras) to generate bird's eye view.
TurtleZhong/vins_notes
vins-mono初始化部分详细教程
TurtleZhong/lili-om
LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
TurtleZhong/encoder_imu_ekf_ros
ROS package to fuse together IMU and wheel encoders in an EKF. Implemented in both C++ and Python. C++ version runs in real time.
TurtleZhong/PlaneDetection
Implementation of my article "A Robust Statistics Approach for Plane Detection in Unorganized Point Clouds"
TurtleZhong/champ
𓃡 Quadruped Robot based on MIT Cheetah I
TurtleZhong/colmap--Important-code-is-to-parse-line-by-line
教你一点点掌握视觉三维重建-colmap 重要代码逐行解析(本人利用下班和周末时间update,so 速度会慢)
TurtleZhong/gazebo_terrain
Terrain model generator for Gazebo
TurtleZhong/leetcode_101
LeetCode 101：和你一起你轻松刷题（C++）
TurtleZhong/LVI-SAM
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
TurtleZhong/multi_robot_coordination
"Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020
TurtleZhong/Python-VO
A simple python implemented frame-by-frame visual odometry with SuperPoint feature detector and SuperGlue feature matcher.
TurtleZhong/Sensor-Fusion
Sensor Fusion for Localization & Mapping
TurtleZhong/tuw_multi_robot
TurtleZhong/uav_frontier_exploration_3d
TurtleZhong/cpr_gazebo
TurtleZhong/kapture
kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.
TurtleZhong/lcd
Line Clustering and Description for Place Recognition
TurtleZhong/lili_om_noted
TurtleZhong/pluto_robot
ROS driver for the Pluto robot
TurtleZhong/share_files
just share files
TurtleZhong/sparse_rgbd_vo
Sparse RGB-D visual odometry ROS package
TurtleZhong/stim300
Driver library for the STIM300 Inertial Measurement Unit (IMU) from Sensonor.
TurtleZhong/subt
This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
TurtleZhong/sun_sensor
Absolute Heading Determination Using Sun Sensor
TurtleZhong/sunsensor_pose_estimation
Absolute heading determination method fora lunar rover based on sun sensors and accelerometers
TurtleZhong/tqdm.cpp
C++ port of tqdm