Wavemap
Official implementation of the Wavemap mapping framework, described in the paper:
"Efficient volumetric mapping of multi-scale environments using wavelet-based compression." V. Reijgwart, C. Cadena, R. Siegwart, and L. Ott in Robotics: Science and Systems, 2023
Code![Hilbert Map](/images/wavemap.jpg)
Hilbert Maps
Reference Python implementation of the Hilbert Map mapping method presented in the paper:
"Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent." F. Ramos and L. Ott In The International Journal of Robotics Research, 2016
Code![Hilbert Map](/images/hilbert_map.jpg)
Stochastic Gradient Descent ICP
C++ Reference implementation of the stochastic gradient descent based ICP method presented in the paper:
"Speeding up ICP using Stochastic Gradient Descent" F. Afzal Maken, F. Ramos, L. Ott In IEEE International Conference on Robotics Automation, 2019
The code requires the following libraries
- Eigen 3
- boost
- pcl
and has example programs which produce an aligned point cloud and the estimate of the transform between the two provided inputs.
Code![Hilbert Map](/images/sgdicp.png)
PHASER
Reference implementation of the PHASER algorithm described in the paper:
"PHASER: a Robust and Correspondence-free Global Pointcloud Registration." L. Bernreiter, L. Ott, J. Nieto, R. Siegwart, and C. Cadena in IEEE Robotics and Automation Letters, 2021
Code![Hilbert Map](/images/phaser.png)
Facility Location Outlier Detection
Basic implementation of the facility location and outlier detection algorithm presented in the paper:
"On integrated clustering and outlier detection.", L. Ott, L. Pang, F. Ramos, and S. Chawla. In Advances in Neural Information Processing Systems, 2014
Code![Hilbert Map](/images/flo.png)