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Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
| Date | Stars |
|---|---|
| 2026-07-24 | 447 |
| 2026-07-25 | 447 |
| 2026-07-28 | 447 |
| 2026-07-30 | 447 |
| 2026-08-06 | 447 |
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# [ICRA2024]Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases <div align="center"> First Author: [**Jie Yin 殷杰**](https://sjtuyinjie.github.io/)   📝 [[Paper]](https://ieeexplore.ieee.org/document/10610070) / [[Arxiv]](https://arxiv.org/abs/2402.14308)   ➡️ [[Dataset]](https://github.com/SJTU-ViSYS/M2DGR-plus)   ⭐️ [[Presentation Video]](https://www.bilibili.com/video/BV1xx421m75k/?spm_id_from=333.337.search-card.all.click&vd_source=0804300aea4065df90adde5398ee74b7)   🔥[[News]](https://mp.weixin.qq.com/s/CfnfxHvn9pbYc4599_JoSg) [](https://sjtuyinjie.github.io/) [](https://ieeexplore.ieee.org/document/10610070) [](https://arxiv.org/abs/2112.13659/) [](https://github.com/SJTU-ViSYS/M2DGR-plus) []() [](https://www.bilibili.com/video/BV1xx421m75k/?spm_id_from=333.337.search-card.all.click&vd_source=0804300aea4065df90adde5398ee74b7) [](https://mp.weixin.qq.com/s/CfnfxHvn9pbYc4599_JoSg) [](https://github.com/SJTU-ViSYS/Ground-Fusion) [](https://github.com/SJTU-ViSYS/Ground-Fusion) [](https://github.com/SJTU-ViSYS/Ground-Fusion/issues) [](https://github.com/SJTU-ViSYS/Ground-Fusion/issues) </div> [](https://www.bilibili.com/video/BV1xx421m75k/?spm_id_from=333.337.search-card.all.click&vd_source=0804300aea4065df90adde5398ee74b7) > [!TIP] > Check out the [**presentation video above**](https://www.bilibili.com/video/BV1xx421m75k/?spm_id_from=333.337.search-card.all.click&vd_source=0804300aea4065df90adde5398ee74b7) for a quick overview of this work! ## News - **🔥`2026/06/14`**: We are excited to release a preview version of **[Ultra-Fusion](https://github.com/sjtuyinjie/Ultra-Fusion)** system, which unifies WIO, VIO, LIO, and LVIO in one configurable optimization framework, with optional wheel/GNSS fusion and online calibration. - **🔥`2025/06/16`**: Introducing our new paper on IROS2025:"Towards Robust Sensor-Fusion Ground SLAM: A Comprehensive Benchmark and A Resilient Framework" is accepted to IROS2025!code: **[Ground-Fusion++](https://github.com/sjtuyinjie/Ground-Fusion2)**, dataset: **[M3DGR](https://github.com/sjtuyinjie/M3DGR)**! ## NOTICE ### We warmly welcome and highly recommend the integration of the Ground-Fusion system into your projects for several compelling reasons: 1. **🔥Comprehensive Sensor Suite**: The Ground-Fusion system is equipped with a multitude of sensors (RGBD-IMU-Wheel-GNSS), facilitating an easy onset for enhancements to any module. This richness in sensory input streamlines the process of adapting and refining components within the system. 2. **⭐️Open-Source Ecosystem**: Both the Ground-Fusion algorithm and associated datasets such as [**M2DGR-plus**](https://github.com/SJTU-ViSYS/M2DGR-plus) and the [**Ground-Challenge**](https://github.com/sjtuyinjie/Ground-Challenge) are openly available, forming a comprehensive bechmark suite. **Welcome to beat Ground-Fusion on M2DGR and Ground-Challenge!** 3. **🚀Proven Performance**: The Ground-Fusion algorithm has been rigorously validated across diverse datasets, establishing itself as SOTA in lidar-less SLAM algorithms. Outperforming Ground-Fusion on these benchmarks would significantly bolster the credibility of your proposed method. ## Introduction We
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