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

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Hilbert Map

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.

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Stochastic Gradient Descent ICP

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

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Facility Location Outlier Detection