An improvement of FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry

Last update: Dec 31, 2022

Related tags

Overview

fasterGICP

This package is an improvement of fast_gicp

Please cite our paper if possible.

W. Jikai, M. Xu, F. Farzin, D. Dai and Z. Chen, "FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3124072.

Installation

Dependencies

PCL
Eigen
OpenMP
CUDA (optional)
Sophus
nvbio

We have tested this package on Ubuntu 18.04/20.04 and CUDA 11.1.

CUDA

To enable the CUDA-powered implementations, set BUILD_VGICP_CUDA cmake option to ON.

Non-ROS

git clone https://github.com/SMRT-AIST/fast_gicp --recursive
mkdir fast_gicp/build && cd fast_gicp/build
cmake .. -DCMAKE_BUILD_TYPE=Release
# enable cuda-based implementations
# cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON
make -j8

Test on KITTI

C++

cd fasterGICP/build
# reading program parameters from fasterGICP/include/settings.txt 
./gicp_kitti

Related packages

Papers

Contact

Owner

GitHub Repository

Unsupervised Foreground Extraction via Deep Region Competition

Unsupervised Foreground Extraction via Deep Region Competition [Paper] [Code] The official code repository for NeurIPS 2021 paper "Unsupervised Foregr

28 Nov 06, 2022

Misc YOLOL scripts for use in the Starbase space sandbox videogame

starbase-misc Misc YOLOL scripts for use in the Starbase space sandbox videogame. Each directory contains standalone YOLOL scripts. They don't really

4 Oct 17, 2021

Decorators for maximizing memory utilization with PyTorch & CUDA

torch-max-mem This package provides decorators for memory utilization maximization with PyTorch and CUDA by starting with a maximum parameter size and

10 May 02, 2022

SUPERVISED-CONTRASTIVE-LEARNING-FOR-PRE-TRAINED-LANGUAGE-MODEL-FINE-TUNING - The Facebook paper about fine tuning RoBERTa with contrastive loss

"# SUPERVISED-CONTRASTIVE-LEARNING-FOR-PRE-TRAINED-LANGUAGE-MODEL-FINE-TUNING" i

28 Dec 12, 2022

A mini lib that implements several useful functions binding to PyTorch in C++.

Torch-gather A mini library that implements several useful functions binding to PyTorch in C++. What does gather do? Why do we need it? When dealing w

8 Sep 07, 2022

A python library to artfully visualize Factorio Blueprints and an interactive web demo for using it.

Factorio Blueprint Visualizer I love the game Factorio and I really like the look of factories after growing for many hours or blueprints after tweaki

124 Jan 07, 2023

Parallel Latent Tree-Induction for Faster Sequence Encoding

FastTrees This repository contains the experimental code supporting the FastTrees paper by Bill Pung. Software Requirements Python 3.6, NLTK and PyTor

4 Mar 29, 2022

Example of semantic segmentation in Keras

keras-semantic-segmentation-example Example of semantic segmentation in Keras Single class example: Generated data: random ellipse with random color o

53 Mar 23, 2022

Implementation of "StrengthNet: Deep Learning-based Emotion Strength Assessment for Emotional Speech Synthesis"

StrengthNet Implementation of "StrengthNet: Deep Learning-based Emotion Strength Assessment for Emotional Speech Synthesis" https://arxiv.org/abs/2110

65 Dec 20, 2022

Baseline powergrid model for NY

Baseline-powergrid-model-for-NY Table of Contents About The Project Built With Usage License Contact Acknowledgements About The Project As the urgency

6 Nov 24, 2022

This repo holds code for TransUNet: Transformers Make Strong Encoders for Medical Image Segmentation

TransUNet This repo holds code for TransUNet: Transformers Make Strong Encoders for Medical Image Segmentation Usage

1.4k Jan 04, 2023

TCNN Temporal convolutional neural network for real-time speech enhancement in the time domain

TCNN Pandey A, Wang D L. TCNN: Temporal convolutional neural network for real-time speech enhancement in the time domain[C]//ICASSP 2019-2019 IEEE Int

16 Dec 30, 2022

Self-Supervised Pillar Motion Learning for Autonomous Driving (CVPR 2021)

Self-Supervised Pillar Motion Learning for Autonomous Driving Chenxu Luo, Xiaodong Yang, Alan Yuille Self-Supervised Pillar Motion Learning for Autono

101 Dec 05, 2022

Keras documentation, hosted live at keras.io

Keras.io documentation generator This repository hosts the code used to generate the keras.io website. Generating a local copy of the website pip inst

2k Jan 08, 2023

Curating a dataset for bioimage transfer learning

CytoImageNet A large-scale pretraining dataset for bioimage transfer learning. Motivation In past few decades, the increase in speed of data collectio

9 Jun 20, 2022

Development Kit for the SoccerNet Challenge

SoccerNetv2-DevKit Welcome to the SoccerNet-V2 Development Kit for the SoccerNet Benchmark and Challenge. This kit is meant as a help to get started w

117 Dec 30, 2022

Oriented Object Detection: Oriented RepPoints + Swin Transformer/ReResNet

Oriented RepPoints for Aerial Object Detection The code for the implementation of “Oriented RepPoints + Swin Transformer/ReResNet”. Introduction Based

96 Dec 13, 2022

Medical Image Segmentation using Squeeze-and-Expansion Transformers

Medical Image Segmentation using Squeeze-and-Expansion Transformers Introduction This repository contains the code of the IJCAI'2021 paper 'Medical Im

172 Dec 20, 2022

Code for our CVPR 2022 Paper "GEN-VLKT: Simplify Association and Enhance Interaction Understanding for HOI Detection"

GEN-VLKT Code for our CVPR 2022 paper "GEN-VLKT: Simplify Association and Enhance Interaction Understanding for HOI Detection". Contributed by Yue Lia

47 Dec 04, 2022

Art Project "Schrödinger's Game of Life"

Repo of the project "Team Creative Quantum AI: Schrödinger's Game of Life" Installation new conda env: conda create --name qcml python=3.8 conda activ

2 Sep 15, 2022