Libraries & Datasets

Under construction

Factor graphs

• GTSAM for all things factor graph
• Alternatives - g2o and ceres

Full AD Stack

• Autoware
• Baidu's Apollo Auto

Lidar projects

• Kiss-ICP - well-designed and modular
  • Kinematic ICP - optimized for ground-vehicle driving

Datasets

• NCLT
• Mulran - Ouster OS1-64
• KITTI Odometry - gold standard but outdated sensors - Velodyne HDL-64E with limited 27° VFOV

See here to convert dataset ROS1 bags to ROS2