Global localization result

MegaParticles: 6-DoF Monte Carlo Localization (Closeup View)

[ICRA2024] MegaParticles 4K

[ICRA2024] MegaParticles : 6-DoF Monte Carlo Localization with One Million Particles

Scan matching speed comparison (small_gicp vs Open3D)

GLIL robustness test (dynamic objects and motion)

GLIL Indoor Test (Livox MID360)

GLIL Indoor Test (MS Azure Kinect)

Quadruped robot (MPC-based planning) [Student Project]

Quadruped robot (Gesture-input) [Student Project]

Quadruped robot (Gesture-input & MPC-based planning) [Student Project]

MPC-based Path Planning [Student project]

Rotary Robot Controller

GLIL: Robust Localization on a 3D Prior Map

Localization demo (os1_128_01)

GLIL rviz viewer

Localization result on a severely cropped map

Global localization module

[ICRA2024] Tightly Coupled Range Inertial Localization on a 3D Prior Map

Environmental Mapping for the Blue Tree Project (MID360)

Digital Twin Flight

Plane-ICP / GICP / VGICP speed comparison

[IROS2023] Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization

Range-IMU Localization Demo (Azure Kinect)

3D Mapping Test (MID360 on Turtlebot4)

Camera map registration

Dynamic points integrator

Livox-camera calibration preprocessing

Dynamic points integration (Data acquisition)

Localization on a prior 3D map with Azure Kinect