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awesome-traversability-analysis

😎 A curated list of papers, tools, and libraries for traversability analysis and terrain classification in robotic navigation

ddynamic_reconfigure

dijkstra_planner

The global planner used in the paper 'ODS-Bot: Mobile robot navigation for outdoor delivery services' (IEEE Access, 2022)

dwa_planner

The local planner used in the paper 'ODS-Bot: Mobile Robot Navigation for Outdoor Delivery Services' (IEEE Access, 2022)

elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

elevation_mapping_cupy

Elevation Mapping on GPU.

fake_simulation_ros

A simple RViz simulation package providing 2D laser scan and occupancy map. For testing navigation planning algorithms

fast_lio

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

grid_map

Universal grid map library for mobile robotic mapping

height_mapping

Range sensor-based 2.5D gridded height mapping (Digital Elevation Model) for urban terrain navigation of mobile robots

ikhyeon-cho.github.io

isr-roscpp

roscpp interface wrapper for personal usage.

isr_robot_ros

ROS driver implementation of ISR M-series mobile robots, used in Intelligent Systems & Robotics Lab (ISR).

lego-loam

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

lesta

Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach (RA-L 2024 & ICRA@40)

lio-sam

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

map_server

mmsegmentation

OpenMMLab Semantic Segmentation Toolbox and Benchmark.

nanoflann

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

ods-bot

ODS-Bot: Mobile robot navigation for outdoor delivery services (IEEE Access, 2022)

pick-and-place

2022-1 Intelligent Robotics Term Project: Pick and Place

pptk

The Point Processing Toolkit (pptk) is a Python package for visualizing and processing 2-d/3-d point clouds.

realsense_ros_tools

ROS wrapper package for running Realsense RGB-D cameras

roadbev

Codes for RoadBEV: road surface reconstruction in Bird's Eye View

rosbag_editor

Create a rosbag from a given one, using a simple GUI

traversability_mapping_prm

Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

ubuntu20.04-autoconfigure

Interactive installation scripts for setup the basic ROS dev environments in Ubuntu 20.04

urban-terrain-dataset

The dataset for the paper 'Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach'

velodyne_ros_tools

zed2_ros_tools