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The MOLA SLAM framework

Building blocks for SLAM
README.md

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  1. mola mola Public

    A Modular Optimization framework for Localization and mApping (MOLA)

    C++ 1k 152

  2. mola_lidar_odometry mola_lidar_odometry Public

    MOLA LiDAR Inertial Odometry (LIO) and localization

    C++ 132 29

  3. mp2p_icp mp2p_icp Public

    Multi primitive-to-primitive (MP2P) ICP algorithms in C++

    C++ 191 32

  4. mola_imu_preintegration mola_imu_preintegration Public

    Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

    C++ 17 5

  5. mola_state_estimation mola_state_estimation Public

    MOLA implementations of the virtual state estimation API for robots / vehicles

    C++ 14 5

  6. mola_mapper mola_mapper Public

    C++ 3

Repositories

Showing 10 of 57 repositories
  • mola Public

    A Modular Optimization framework for Localization and mApping (MOLA)

    MOLAorg/mola's past year of commit activity
    C++ 1,049 152 31 0 Updated Oct 30, 2026
  • mola_lidar_odometry Public

    MOLA LiDAR Inertial Odometry (LIO) and localization

    MOLAorg/mola_lidar_odometry's past year of commit activity
    C++ 132 GPL-3.0 29 9 0 Updated Oct 30, 2026
  • mola_state_estimation Public

    MOLA implementations of the virtual state estimation API for robots / vehicles

    MOLAorg/mola_state_estimation's past year of commit activity
    C++ 14 GPL-3.0 5 2 0 Updated Oct 29, 2026
  • mola_test_datasets Public

    Small SLAM dataset extracts used for demos or unit tests from the main MOLA repository

    MOLAorg/mola_test_datasets's past year of commit activity
    HTML 0 BSD-3-Clause 3 0 0 Updated Oct 29, 2026
  • mp2p_icp Public

    Multi primitive-to-primitive (MP2P) ICP algorithms in C++

    MOLAorg/mp2p_icp's past year of commit activity
    C++ 191 BSD-3-Clause 32 0 0 Updated Oct 27, 2026
  • mola_sm_loop_closure Public

    Offline tool for loop-closure on simple-maps

    MOLAorg/mola_sm_loop_closure's past year of commit activity
    C++ 5 GPL-3.0 2 0 0 Updated Oct 27, 2026
  • mola_academic_datasets Public

    MOLA input modules for well-known academic datasets

    MOLAorg/mola_academic_datasets's past year of commit activity
    C++ 1 1 1 0 Updated Oct 27, 2026
  • pipelines-editor Public
    MOLAorg/pipelines-editor's past year of commit activity
    HTML 0 0 0 0 Updated Oct 25, 2026
  • mola_ct_lio Public

    Continuous-time LiDAR-inertial odometry for MOLA, with mp2p_icp matching over incremental point maps

    MOLAorg/mola_ct_lio's past year of commit activity
    C++ 4 GPL-3.0 0 0 0 Updated Oct 25, 2026
  • mola_imu_preintegration Public

    Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

    MOLAorg/mola_imu_preintegration's past year of commit activity
    C++ 17 GPL-3.0 5 0 0 Updated Oct 23, 2026
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