GitHub repository
A recursive B-spline-based state estimation framework for 6-DoF LiDAR odometry, supporting LiDAR-only, LiDAR-inertial, and multi-LiDAR configurations.
What is GitHub repository?
RESPLE is a recursive B-spline-based state estimation framework for LiDAR-based odometry. It estimates 6-degree-of-freedom dynamic motions by modeling continuous trajectories using splines, serving as a backbone for various LiDAR odometry systems including LiDAR-only, LiDAR-inertial, and multi-LiDAR configurations. It solves the problem of accurate and smooth motion estimation in dynamic environments for robotic platforms.
Robotics researchers and engineers working on LiDAR-based navigation, state estimation, and odometry for autonomous vehicles, drones, legged robots, and wearable systems.
Developers choose RESPLE for its novel spline-based recursive estimation, which provides continuous motion modeling and supports a unified suite of odometry variants. Its flexibility with multiple LiDAR types and validation across diverse real-world datasets makes it a robust choice for challenging dynamic scenarios.
Overview
The first 6-DoF spline-based recursive motion esimator for LiDAR-based odometry
Use Cases
Best For
- Estimating 6-DoF motion for legged robots in dynamic environments
Related Projects
Found a gem we're missing?
Open-Awesome is built by the community, for the community. Submit a project, suggest an awesome list, or help improve the catalog on GitHub.
