├── Doc ├── Comparative-Analysis-of-Image-Alignment-effects-in-different-Scene-Change-Detection-Datasets │ ├── Comparative-Analysis-of-Image-Alignment-effects-in-different-Scene-Change-Detection-Datasets.pdf │ ├── IMG │ │ ├── CDnet2014-dataset.png │ │ ├── Changesim.png │ │ ├── PCD-dataset.png │ │ ├── PSCD.png │ │ ├── UMAD.png │ │ └── VL-CMU-CD.png │ └── README.md ├── IMG │ └── 3-07-00001668-and-6-21-00003570.png ├── UMAD-Dataset-Usage-Guide-Doc.md ├── UMAD-Poster.pdf └── UMAD-homo-eva-dataset.md ├── IMG ├── 1.png ├── 2.jpg ├── 3.png ├── PME-result.png ├── adaptive-warping.png ├── dataset-overview.png └── leaderboard-from-UMAD.png ├── LICENSE ├── README.md └── robot_system_code ├── script ├── path.txt ├── path_follow.py └── path_record.py └── src └── FAST_LIO_LOCALIZATION-ROS-NOETIC ├── CMakeLists.txt ├── LICENSE ├── Log ├── dbg.txt ├── fast_lio_time_log_analysis.m ├── guide.md ├── imu.txt ├── mat_out.txt ├── mat_pre.txt ├── plot.py └── pos_log.txt ├── PCD └── 1 ├── README.md ├── config ├── avia.yaml ├── horizon.yaml ├── mid360.yaml ├── ouster64.yaml └── velodyne.yaml ├── doc ├── demo.GIF ├── demo_accu.GIF ├── demo_init.GIF └── demo_init_2.GIF ├── include ├── Exp_mat.h ├── IKFoM_toolkit │ ├── esekfom │ │ ├── esekfom.hpp │ │ └── util.hpp │ └── mtk │ │ ├── build_manifold.hpp │ │ ├── src │ │ ├── SubManifold.hpp │ │ ├── mtkmath.hpp │ │ └── vectview.hpp │ │ ├── startIdx.hpp │ │ └── types │ │ ├── S2.hpp │ │ ├── SOn.hpp │ │ ├── vect.hpp │ │ └── wrapped_cv_mat.hpp ├── common_lib.h ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── matplotlibcpp.h ├── so3_math.h └── use-ikfom.hpp ├── launch ├── gdb_debug_example.launch ├── localization_avia.launch ├── localization_horizon.launch ├── localization_mid360.launch ├── localization_ouster64.launch └── localization_velodyne.launch ├── msg └── Pose6D.msg ├── package.xml ├── rviz_cfg ├── loam_livox.rviz └── localization.rviz ├── scripts ├── global_localization.py ├── publish_initial_pose.py └── transform_fusion.py └── 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