hku-mars

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

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

High-Bandwidth LiDAR Inertial Odometry

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

A Handy Extrinsic Calibration Tool for LiDAR-camera Systems.

An efficient and consistent bundle adjustment for lidar mapping

This repository provides implementation of an incremental k-d tree for robotic applications.

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package

A 3D point cloud descriptor for place recognition

ImMesh: An Immediate LiDAR Localization and Meshing Framework

[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

[RAL 2023] A globally consistent LiDAR map optimization module

MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs

A computationally efficient and convenient toolkit of iterated Kalman filter.

[IROS 2025] LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction

LIV-Eye: A Low-Cost LiDAR-Inertial-Visual Fusion 3D Sensor for Robotics and Embodied AI.

[T-RO 24] Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms

D-Map provides an efficient occupancy mapping approach for high-resolution LiDAR sensors.

UMI-3D SLAM and Data Processing Pipeline: https://umi-3d.github.io/

[ICRA 2025] Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems

Integrated Planning and Control for Quadrotor Navigation in Presence of Sudden Crossing Objects and Disturbances

In this repository, we present our research works of HKU-MaRS lab that related to SLAM

Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping (IJRR 2026)

Swarm-Tracker: Implementation of the paper "Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms"

Sparse Radiance Voxels for Scalable Geometrically Consistent LiDAR-Visual Mapping and Rendering