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1. VINS-Fusion-GPU-BA VINS-Fusion-GPU-BA Public

   A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

   C++ 115 10

2. LIO-SAM-GPU-ScanToMapOpt LIO-SAM-GPU-ScanToMapOpt Public

   A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search. Run on Jetson Orin NX 8GB.

   Cuda 181 23

3. LightGlue-with-FlashAttentionV2-TensorRT LightGlue-with-FlashAttentionV2-TensorRT Public

   A cutlass cute implementation of headdim-64 flashattentionv2 TensorRT plugin for LightGlue. Run on Jetson Orin NX 8GB with TensorRT 8.5.2.

   Cuda 19 3