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@MOLAorg The MOLA SLAM framework

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    48 repositories

    • mola_sm_loop_closure

      Public
      Offline tool for loop-closure on simple-maps
      C++
      •
      GNU General Public License v3.0
      •3•2•0•0•Updated Apr 14, 2026Apr 14, 2026

    • mp2p_icp

      Public
      Multi primitive-to-primitive (MP2P) ICP algorithms in C++
      registrationslampoint-clouds
      registrationslampoint-cloudsicp
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •31•186•0•0•Updated Apr 13, 2026Apr 13, 2026

    • mola_lidar_odometry

      Public
      MOLA LiDAR odometry and localization
      localizationcpprobotics
      localizationcpproboticsmappingroslidarslammobile-roboticsros2lidar-point-cloud
      C++
      •
      GNU General Public License v3.0
      •20•107•4•0•Updated Apr 13, 2026Apr 13, 2026

    • mola

      Public
      A Modular Optimization framework for Localization and mApping (MOLA)
      computer-visionlocalizationcxx
      computer-visionlocalizationcxxtoolkitlidardatasetsslammobile-robotsgraph-slamvisual-slam
      C++
      •
      Other
      •129•893•33•1•Updated Apr 10, 2026Apr 10, 2026

    • mola_state_estimation

      Public
      MOLA implementations of the virtual state estimation API for robots / vehicles
      C++
      •
      GNU General Public License v3.0
      •3•11•1•0•Updated Apr 7, 2026Apr 7, 2026

    • mola_input_ouster

      Public
      Provides a MOLA RawDataSourceBase module for Ouster LiDAR sensors using the native Ouster C++ SDK, without requiring any ROS middleware.
      C++
      •
      Other
      •1•2•0•0•Updated Apr 2, 2026Apr 2, 2026

    • mola_mapper_2d

      Public
      2D SLAM system for the MOLA framework
      C++
      •
      GNU General Public License v3.0
      •2•5•0•0•Updated Mar 24, 2026Mar 24, 2026

    • mola_imu_preintegration

      Public
      Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes
      C++
      •
      GNU General Public License v3.0
      •4•16•0•0•Updated Mar 24, 2026Mar 24, 2026

    • mola_vision

      Public
      C++ library for low-level vision: keypoint detection and tracking
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•9•0•0•Updated Mar 19, 2026Mar 19, 2026

    • ros2_documentation

      Public
      ROS 2 docs repository
      Python
      •
      Creative Commons Attribution 4.0 International
      •1.2k•0•0•0•Updated Mar 12, 2026Mar 12, 2026

    • pipelines-editor

      Public
      HTML
      •0•0•0•0•Updated Feb 15, 2026Feb 15, 2026

    • mola_gnss_to_markers

      Public
      Takes GNSS (GPS) readings, a MOLA georeferenced map, and publishes markers to visualize the datums as ellipsoids on the map
      roboticsgpsros
      roboticsgpsrosslammobile-roboticsros2gnns
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3•3•0•0•Updated Dec 26, 2025Dec 26, 2025

    • mola_kiss_icp_wrapper

      Public
      Wrapper to use Kiss ICP on MOLA dataset sources via CLI
      C++
      •
      MIT License
      •0•2•0•0•Updated Oct 25, 2025Oct 25, 2025

    • mola_common

      Public
      Common CMake scripts to all MOLA modules
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •5•0•0•0•Updated Oct 21, 2025Oct 21, 2025

    • mola_input_rosbag1

      Public
      MOLA DataSource for ROS1 bag files that does not need a ROS1 installation
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Aug 29, 2025Aug 29, 2025

    • mola_test_datasets

      Public
      Small SLAM dataset extracts used for demos or unit tests from the main MOLA repository
      roboticspoint-clouddatasets
      roboticspoint-clouddatasetsslamros2
      HTML
      •
      BSD 3-Clause "New" or "Revised" License
      •4•0•0•0•Updated Jul 22, 2025Jul 22, 2025

    • rosdistro

      Public
      This repo maintains a lists of repositories for each ROS distribution
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •2.8k•0•0•0•Updated May 25, 2025May 25, 2025

    • .github

      Public
      0•0•0•0•Updated Apr 19, 2025Apr 19, 2025

    • mola_benchmark_metric_maps_kitti

      Public
      C++
      •
      MIT License
      •0•0•0•0•Updated Sep 8, 2024Sep 8, 2024

    • mola_warehouse_pf_tutorial

      Public
      Tutorial launch and map files for localization with MOLA-generated maps
      Python
      •
      Apache License 2.0
      •0•5•0•0•Updated Sep 7, 2024Sep 7, 2024

    • mola_simple_wrapper

      Public
      MOLA module wrapper for: A simple LiDAR odometry method reducing the complexity and configuration burden of localization algorithms.
      C++
      •
      MIT License
      •15•1•0•0•Updated Sep 2, 2024Sep 2, 2024

    • docker-mola-lo-test

      Public
      Test to build and run MOLA LiDAR odometry in a docker container
      Dockerfile
      •
      MIT License
      •0•1•0•0•Updated Jul 31, 2024Jul 31, 2024

    • static-media

      Public
      MOLA static media files for use in README.md (videos, GIFs,...)
      HTML
      •
      MIT License
      •0•0•0•0•Updated Feb 4, 2024Feb 4, 2024

    • mola_demos

      Public archive
      Demo and example launch files for MOLA
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_yaml

      Public archive
      YAML helper library common to MOLA modules
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_viz

      Public archive
      GUI for MOLA
      C++
      •
      GNU General Public License v3.0
      •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_launcher

      Public archive
      Launcher app for MOLA systems
      C++
      •
      GNU General Public License v3.0
      •1•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_input_ros2

      Public archive
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_input_rawlog

      Public archive
      Offline RawDataSource from MRPT rawlog datasets
      C++
      •
      GNU General Public License v3.0
      •1•0•0•0•Updated Dec 15, 2023Dec 15, 2023

    • mola_input_mulran_dataset

      Public archive
      MOLA input module for Mulran datasets
      C++
      •
      GNU General Public License v3.0
      •0•0•0•0•Updated Dec 15, 2023Dec 15, 2023
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