yanyan-li/SurfelMapping

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yanyan-li/SurfelMapping

yanyan-li

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This repo introduces two interesting surfel-based mapping methods, which records some problems in my testing process.

SLAM-BOOK

这是一本关于SLAM的书稿，希望能清楚的介绍SLAM系统中的使用的几何方法和深度学习方法。书稿最后应该会达到200页左右，书稿每章对应的代码也会被整理出来。

PlanarSLAM

A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.

Structure-SLAM-PointLine

This is a basic point-line SLAM system based on ORBSLAM2.

VENOM-SLAM

This is a simulator software for SLAM. The pose estimation strategy, Venom, receives enhanced powers when structure primities are deteced from environments.

Open-Structure

This new benchmark dataset, Open-Structure, is proposed to evaluate visual odometry and SLAM methods, which directly equips point and line measurements, correspondences, structural associations, and co-visibility factor graphs instead of providing raw images.

SLAIM-Papers

normal_depth_gt_of_NYU2

A simple image generator for NYU2 (labeled dataset), which provides independent images for your evaluation goals.

yanyan-li.github.io

gaussian-splatting-using-PlanarSLAM

add a new type of input for gaussian-splatting

Faster-VO

RGBD Visual Odometry