GVINS：基于GNSS视觉惯性紧耦合的平滑状态估计方法 is a project mainly written in , based on the .文章：GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation作者：Shaozu Cao, Xiuyuan Lu, and Shaojie Shen代码：https://github.com/HKUST-...

基于先验时间一致性车道线的IPM相机外参标定 is a project mainly written in , based on the .文章：Online Extrinsic Camera Calibration for Temporally Consistent IPM Using Lane Boundary Observations with a Lane Width Prior作者：Jeong-Kyun Lee, Young-Ki Baik, Hankyu C...

Toronto-3D：用于城市道路语义分割的大规模移动激光雷达数据集 is a project mainly written in , based on the .文章：Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways作者：Weikai Tan1 , Nannan Qin1,2, Lingfei Ma1 , Ying Li1 , Jing Du3 , Guoron...

ArUco与AprilTag简介 is a project mainly written in , based on the .无论是aruco还是apriltag二维码标定板检测的思路是提取一块四边形的区域，这个区域具有比周围亮度更低的特点。这个思路的主要优点是尽可能多的检测出所有可能的二维码，但是根据采集数据的环境极有可能出现异常线段，然后再根据二维码的编码值可以对野值进行剔除实现识别与定位。ArUcoArUco是一个开源的小型的AR虚拟现实增强库，已经...

学习PCL库你应该知道的C++特性 is a project mainly written in , based on the .要学会PCL首先要对C++进行学习，所以这里我们首先对PCL库的代码中常见的C++的技巧进行整理和概述，并且对其中的难点进行细化讲解。首先我们搞清楚PCL库的文件形式、是一个以CMake构建的项目，库中主要以cpp,.h，.hpp文件三种文件形式。那我们知道cpp是C++工程中函数实现的代码，以下是根据PCL库中的代码中常用的C++...

F-LOAM:基于激光雷达的快速里程计和建图 is a project mainly written in , based on the .文章：F-LOAM : Fast LiDAR Odometry and Mapping作者：Han Wang, Chen Wang, Chun-Lin Chen, and Lihua Xiegithub：https://github.com/wh200720041/floam编译：点云PCL本文仅做学术分享，如有侵权，请联系删除。欢...

实时的激光雷达点云压缩 is a project mainly written in , based on the .点云PCL免费知识星球，点云论文速读。标题：Real-Time Spatio-Temporal LiDAR Point Cloud Compression作者：Yu Feng , Shaoshan Liu , and Yuhao Zhu来源：2020IROS本文仅做学术分享，如有侵权，请联系删除。欢迎各位加入免费知识星球，获取PDF...

根据相机外参实现单应矩阵计算的理论与实践 is a project mainly written in , based on the .论文阅读模块将分享点云处理，SLAM，三维视觉，高精地图相关的文章。公众号致力于理解三维视觉领域相关内容的干货分享，欢迎各位加入我，我们一起每天一篇文章阅读，开启分享之旅,有兴趣的可联系微信[email protected]。单应矩阵介绍单应性在计算机视觉领域是一个非常重要的概念，它在图像校正、图像拼接、俯视图生成，相机位姿估计、...

SSC：基于点云语义上下文的大规模激光SLAM的位置识别方法 is a project mainly written in , based on the .文章：SSC: Semantic Scan Context for Large-Scale Place Recognition作者：Lin Li1 , Xin Kong1 , Xiangrui Zhao1 , Tianxin Huang1 and Yong Liu1编译：点云PCL本文仅做学术分享，如有侵权，请联系删除。欢迎各位加入...

Road-SLAM：基于道路标线车道级精度SLAM is a project mainly written in , based on the .文章：Road-SLAM : Road Marking based SLAM with Lane-level Accuracy作者：Jinyong Jeong, Younggun Cho, and Ayoung Kim1编译：点云PCL本文仅做学术分享，如有侵权，请联系删除。欢迎各位加入免费知识星球，获取PDF论文，欢迎转发朋友圈。...

头戴式AR/VR 光学标定 is a project mainly written in , based on the .文章：A Survey of Calibration Methods for Optical See-Through Head-Mounted Displays作者：Jens Grubert , Yuta Itoh, Kenneth Moser编译：点云PCL本文仅做学术分享，如有侵权，请联系删除。欢迎各位加入免费知识星球，获取PD...

【开源分享】VIDO-SLAM：一种视觉惯性动态物体SLAM系统 is a project mainly written in , based on the .文章：Inertial-Only Optimization for Visual-Inertial Initialization作者：Carlos Campos, Jose M.M. Montiel and Juan D. Tard ´ os´代码：https://github.com/bxh1/VIDO-SLAM.git编译：点云...

基于道路标线的城市环境单目定位 is a project mainly written in , based on the .文章：Monocular Localization in Urban Environments using Road Markings作者：Yan Lu Jiawei Huang Yi-Ting Chen Bernd Heisele编译：点云PCL本文仅做学术分享，如有侵权，请联系删除。欢迎各位加入免费知识星球，获取PDF论文，欢迎...

SC-A-LOAM：在A-LOAM中加入回环检测 is a project mainly written in , based on the .Thanks to LOAM, A-LOAM, and LIO-SAM code authors. The major codes in this repository are borrowed from their efforts.代码：https://github.com/gisbi-kim/SC-A-LOAM编译：点云PCL本...

OpenCV中检测ChArUco的角点（2） is a project mainly written in , based on the .论文阅读模块将分享点云处理，SLAM，三维视觉，高精地图相关的文章。公众号致力于理解三维视觉领域相关内容的干货分享，欢迎各位加入我，我们一起每天一篇文章阅读，开启分享之旅,有兴趣的可联系微信[email protected]。opencv中ArUco模块实践（1）ArUco的生成与检测ArUco与AprilTag简介ChAruco...

Opencv中ArUco模块实践（1） is a project mainly written in , based on the .论文阅读模块将分享点云处理，SLAM，三维视觉，高精地图相关的文章。公众号致力于理解三维视觉领域相关内容的干货分享，欢迎各位加入我，我们一起每天一篇文章阅读，开启分享之旅,有兴趣的可联系微信[email protected]。aruco标记板的检测与识别在上一节中我们介绍了aruco单个的标记 板的检测和识别这里我们将介绍aruc...

基于自适应逆透视变换的车道线SLAM is a project mainly written in , based on the .公众号致力于分享点云处理，SLAM，三维视觉，高精地图相关的文章与技术，欢迎各位加入我们，一起每交流一起进步,有兴趣的可联系微信：920177957。本文来自点云PCL博主的分享，未经作者允许请勿转载，欢迎各位同学积极分享和交流。前言前段时间刚分享的AVP-SLAM文章中有一个知识点叫做IPM(逆透视变换)AVP-SLAM：自动泊车...

SemSegMap ：基于3D点云语义信息的定位 is a project mainly written in , based on the .点云PCL免费知识星球，点云论文速读。文章：SemSegMap - 3D Segment-Based Semantic Localization作者：Andrei Cramariuc, Florian Tschopp, Nikhilesh Alatur, Stefan Benz代码：https://github.com/ethz-a...

基于成像激光雷达的鲁棒位置识别 is a project mainly written in , based on the .点云PCL免费知识星球，点云论文速读。文章：Robust Place Recognition using an Imaging Lidar作者：Tixiao Shan, Brendan Englot, Fabio Duarte, Carlo Ratti, and Daniela Rus编译：点云PCL（ICRA 2021）开源代码：...

自动驾驶车辆在结构化场景中基于HD-Map由粗到精语义定位 is a project mainly written in , based on the .点云PCL免费知识星球，点云论文速读。文章：Coarse-to-fine Semantic Localization with HD Map for Autonomous Driving in Structural Scenes作者：Chengcheng Guo, Minjie Lin, Heyang Guo, Pengpeng L...