[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

• UpdatedJul 31, 2024
• Python

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

• UpdatedApr 30, 2025
• C++

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

• UpdatedMay 28, 2024
• C++

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

• UpdatedNov 6, 2024
• C++

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving

• UpdatedJun 28, 2024
• Python

Arduino sketches for MPU9250 9DoF with AHRS sensor fusion

• UpdatedMay 11, 2019
• C++

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

• UpdatedMar 28, 2025
• C++

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

• UpdatedSep 11, 2021
• C++

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

• UpdatedFeb 13, 2020
• C++

alfred-py: A deep learning utility library for **human**, more detail about the usage of lib to:https://zhuanlan.zhihu.com/p/341446046

• UpdatedApr 11, 2025
• Python

X Inertial-aided Visual Odometry

• UpdatedFeb 24, 2023
• C++

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.

• UpdatedOct 28, 2020

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰

• UpdatedMar 15, 2019

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

• UpdatedMar 18, 2023
• C++

Predict dense depth maps from sparse and noisy LiDAR frames guided by RGB images. (Ranked 1st place on KITTI) [MVA 2019]

• UpdatedMay 1, 2022
• Python

HybVIO visual-inertial odometry and SLAM system

• UpdatedMay 5, 2022
• C++

Official code for "EagerMOT: 3D Multi-Object Tracking via Sensor Fusion" [ICRA 2021]

• UpdatedNov 23, 2022
• Python

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

• UpdatedOct 21, 2021
• MATLAB

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

• UpdatedApr 17, 2025
• C++

MaRS: A Modular and Robust Sensor-Fusion Framework

• UpdatedApr 23, 2025
• C++