# 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

# 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

# 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# 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

# 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