Urban Robotics Lab. @ KAIST

All

20 repositories

patchwork-plusplus
Public
Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22
detection point-cloud lidar segmentation ground 3d-lidar ground-detection ground-segmentation ground-removal
C++
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BSD 2-Clause "Simplified" License
•110•723•7•1•Updated Jan 28, 2025Jan 28, 2025
TRG-planner
Public
TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation (RA-L 2025)
Apache License 2.0
•0•12•0•0•Updated Jan 17, 2025Jan 17, 2025
HeLiMOS-PointCloud-Toolbox
Public
HeLiMOS: Heterogeneous LiDAR Dataset for Moving Object Segmentation @ IROS'2024
detection point-cloud perception lidar mos segmentation outdoor kaist 3d-lidar solid-state-lidar
C++
•6•71•0•0•Updated Jan 16, 2025Jan 16, 2025
TRAVEL
Public
Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans
C++
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GNU General Public License v3.0
•31•278•3•0•Updated Dec 16, 2024Dec 16, 2024
MambaGlue
Public
MambaGlue: Fast and Robust Local Feature Matching With Mamba @ ICRA'25
feature-matching
4•78•1•0•Updated Oct 1, 2024Oct 1, 2024
HeLiMOS-visualizer
Public
A LiDAR visualization tool for HeLiMOS dataset
Python
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MIT License
•1•25•0•0•Updated Sep 4, 2024Sep 4, 2024
patchwork-plusplus-ros
Public
ROS & ROS2 Implementation of Patchwork++
point-cloud ros lidar segmentation ground ground-segmentation 3d-point-cloud ground-removal
C++
•
GNU General Public License v3.0
•74•345•3•2•Updated May 30, 2024May 30, 2024
Quatro
Public
Fast and robust global registration for terrestrial robots @ ICRA2022
registration point-cloud-library lidar-point-cloud point-cloud-registration global-registration lidar-registration
C++
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GNU General Public License v3.0
•46•338•2•1•Updated May 27, 2024May 27, 2024
kaistviodataset
Public
"Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.
visual-inertial-odometry visual-odometry
Shell
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GNU General Public License v3.0
•8•80•1•0•Updated May 21, 2024May 21, 2024
outlier-robust-radar-odometry
Public
ORORA: Outlier-robust radar odometry, which is accepted in ICRA'23
radar odometry radar-data outlier-rejection radar-odometry
C++
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GNU General Public License v3.0
•21•199•2•0•Updated May 13, 2024May 13, 2024
ERASOR2
Public
[RSS'23] The official Implementation of "ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes"
8•169•5•0•Updated Jan 14, 2024Jan 14, 2024
UV-SLAM
Public
UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping
ros robotics mapping slam
C++
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GNU General Public License v3.0
•44•264•4•0•Updated Aug 3, 2023Aug 3, 2023
Patchwork2
Public
Are you ready for fast and robust ground-segmentation for all terrain robots?
GNU Affero General Public License v3.0
•7•126•1•0•Updated Apr 18, 2023Apr 18, 2023
Ground-Segmentation-Benchmark
Public
Ground segmentation benchmark in SemanticKITTI dataset
lidar pointcloud lidar-point-cloud lidar-data ground-detection ground-segmentation
C++
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GNU General Public License v3.0
•24•200•4•0•Updated Mar 23, 2023Mar 23, 2023
Struct-MDC
Public
Official page of Struct-MDC (RA-L'22 with IROS'22); Depth completion from Visual-SLAM using point & line features
mapping visual-slam depth-completion visual-slam-learning
Python
•
GNU General Public License v3.0
•6•47•0•0•Updated Jan 13, 2023Jan 13, 2023
dynaVINS
Public
DynaVINS : A Visual-Inertial SLAM for Dynamic Environments
visual-inertial-slam robotics slam
C++
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GNU General Public License v3.0
•51•358•16•0•Updated Nov 3, 2022Nov 3, 2022
url_bib_utils
Public
Frequently used abbreviations of conf/journals when writing references by latex
TeX
•0•4•0•0•Updated Oct 30, 2022Oct 30, 2022
Quatro-LeGO-LOAM
Public
C++
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GNU General Public License v3.0
•8•70•0•0•Updated Sep 2, 2022Sep 2, 2022
AlterGround-LeGO-LOAM
Public
The page for PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry
C++
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GNU General Public License v3.0
•21•175•4•0•Updated Sep 2, 2022Sep 2, 2022
VinsFusionSC
Public
VINS-Fusion combined with Switchable Constraints
C++
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MIT License
•3•43•0•0•Updated Aug 31, 2022Aug 31, 2022