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The MOLA SLAM framework (@MOLAorg)

MOLAorg

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mola

A Modular Optimization framework for Localization and mApping (MOLA)

mp2p_icp

Multi primitive-to-primitive (MP2P) ICP algorithms in C++

mola-slam-gtsam

MOLA module: SLAM back-end based on GTSAM factor graphs

mola_lidar_odometry

MOLA LiDAR odometry and localization

mola-lidar-segmentation

Filters and segmentation algorithms for 2D/3D LiDAR raw scans or point clouds

mola-fe-lidar

MOLA module: Front-end for point-cloud sensors based on generic ICP algorithms. LiDAR odometry and loop closure.

mola_imu_preintegration

Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

mola-module-template

A template for creating new MOLA modules

mola-vision

C++ library for low-level vision: keypoint detection and tracking

mola-input-rwl-simulator

An interpreted language for simulating large datasets for mobile robotics SLAM

mola_warehouse_pf_tutorial

Tutorial launch and map files for localization with MOLA-generated maps

mola_kiss_icp_wrapper

Wrapper to use Kiss ICP on MOLA dataset sources via CLI

mola-fe-odometry

SLAM module: front-end for wheels odometry

docker-mola-lo-test

Test to build and run MOLA LiDAR odometry in a docker container

mola_kernel

MOLA kernel system

mola_gnss_to_markers

Takes GNSS (GPS) readings, a MOLA georeferenced map, and publishes markers to visualize the datums as ellipsoids on the map

mola-input-ros1

Bridge: ROS1 -> MOLA