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@APRIL-ZJU Advanced Perception on Robotics and Intelligent Learning (APRIL) Lab

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    18 repositories

    • Gaussian-LIC

      Public
      [ICRA 2025] Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
      C++
      •23•303•9•0•Updated Jul 13, 2025Jul 13, 2025

    • Coco-LIC

      Public
      [RA-L 2023] Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline
      C++
      •25•313•10•0•Updated Jul 13, 2025Jul 13, 2025

    • learn-to-calibrate

      Public
      [IROS2025] A Targetless, User-friendly and Robust Reinforcement Learning-based Sensor Extrinsic Calibration Method
      C++
      •2•20•0•0•Updated Jun 16, 2025Jun 16, 2025

    • Drive-OccWorld

      Public
      Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving (AAAI-25)
      Python
      •
      Apache License 2.0
      •7•0•0•0•Updated Feb 18, 2025Feb 18, 2025

    • LeapAD

      Public
      [NeurIPS 2024] Continuously Learning, Adapting, and Improving: A Dual-Process Approach to Autonomous Driving
      Python
      •
      Apache License 2.0
      •9•0•0•0•Updated Feb 8, 2025Feb 8, 2025

    • SGN

      Public
      [IEEE TIP 2024] Camera-based Semantic Scene Completion with Sparse Guidance Network
      Python
      •
      Other
      •5•0•0•0•Updated Feb 8, 2025Feb 8, 2025

    • OA-LICalib

      Public
      [TRO 2022] Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
      C++
      •
      GNU General Public License v3.0
      •51•296•13•1•Updated Jul 25, 2024Jul 25, 2024

    • clic

      Public
      [TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
      C++
      •24•198•7•0•Updated May 6, 2024May 6, 2024

    • Ctrl-VIO

      Public
      [RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras
      C++
      •29•221•4•0•Updated Aug 23, 2023Aug 23, 2023

    • CL-CBS

      Public
      An Efficient Multi-Agent Path Finding Solver for Car-Like Robots
      planningcbsmapfmultiagent-planningrobots
      C++
      •
      MIT License
      •85•384•2•0•Updated Jul 31, 2023Jul 31, 2023

    • lidar_IMU_calib

      Public
      [IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
      C++
      •
      GNU General Public License v3.0
      •235•1.1k•51•3•Updated May 15, 2023May 15, 2023

    • 3QNet

      Public
      [SIGGRAPH Asia'22] The codes of 3QNet: 3D Point Cloud Geometry Quantization Compression Network
      Python
      •2•17•0•0•Updated Feb 16, 2023Feb 16, 2023

    • clins

      Public
      [IROS 2021] CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
      C++
      •
      GNU General Public License v3.0
      •50•283•9•0•Updated Feb 24, 2022Feb 24, 2022

    • ndt_omp

      Public
      Multi-threaded and SSE friendly NDT algorithm
      C++
      •
      BSD 2-Clause "Simplified" License
      •356•24•0•0•Updated Aug 26, 2021Aug 26, 2021

    • Kontiki

      Public
      C++
      •
      MIT License
      •13•32•0•1•Updated Sep 16, 2020Sep 16, 2020

    • seminar

      Public
      Seminar for APRIL Lab.
      MIT License
      •0•3•0•0•Updated May 7, 2020May 7, 2020

    • TEG

      Public
      Python
      •1•2•0•0•Updated Feb 14, 2020Feb 14, 2020

    • RISAS

      Public
      MATLAB
      •4•5•0•0•Updated Apr 26, 2019Apr 26, 2019