GLIM

Range-based 3D localisation and mapping framework for LiDAR and RGB-D sensors

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GLIM is an open-source 3D mapping and localisation framework that works with a range of LiDAR and RGB-D sensors. It builds consistent maps through factor-graph registration, supports GPU acceleration, and includes an interactive interface for correcting mapping failures and merging sessions. It is aimed at robotics engineers and researchers building point cloud maps.

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