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Paul Kemppi's Projects

direct_lidar_inertial_odometry icon direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

direct_lidar_odometry icon direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

gtsam_fusion icon gtsam_fusion

Estimates pose, velocity, and accelerometer / gyroscope biases by fusing GPS position and/or 6DOF pose with IMU data. The fusion is done using GTSAM's sparse nonlinear incremental optimization (ISAM2). The ROS (rospy) node is implemented using GTSAM's python3 inteface.

nvbio icon nvbio

NVBIO is a library of reusable components designed to accelerate bioinformatics applications using CUDA.

vdb_mapping icon vdb_mapping

Performantes 3D Kartierungs-Framework auf Basis von OpenVDB

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