Python Lidar-odometry Resources

Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds (CVPR 2022, Oral) This is the official implementat

Scribble-Supervised LiDAR Semantic Segmentation Dataset and code release for the paper Scribble-Supervised LiDAR Semantic Segmentation, CVPR 2022 (ORA

OverlapTransformer The code for our paper submitted to RAL/IROS 2022: OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for

PDV PDV is LiDAR 3D object detection method. This repository is based off [OpenPCDet]. Point Density-Aware Voxels for LiDAR 3D Object Detection Jordan

HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDAR. CVPR 2022 [Project page | Video] Getting sta

LiDAR Distillation Paper | Model LiDAR Distillation: Bridging the Beam-Induced Domain Gap for 3D Object Detection Yi Wei, Zibu Wei, Yongming Rao, Jiax

Open3DSOT A general python framework for single object tracking in LiDAR point clouds, based on PyTorch Lightning. The official code release of BAT an

PyTorch implementation of DD3D: Is Pseudo-Lidar needed for Monocular 3D Object detection? (ICCV 2021), Dennis Park*, Rares Ambrus*, Vitor Guizilini, Jie Li, and Adrien Gaidon.

Data, code and pretrained models for the paper Deep Surface Reconstruction from Point Clouds with Visibility Information.

MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition Paper: MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition accepted fo

Contrastive Instance Association for 4D Panoptic Segmentation using Sequences of 3D LiDAR Scans This repository contains the implementation of the pap

Ensemble Visual-Inertial Odometry (EnVIO) Authors : Jae Hyung Jung, Yeongkwon Choe, and Chan Gook Park 1. Overview This is a ROS package of Ensemble V

End-To-End Optimization of LiDAR Beam Configuration arXiv | IEEE Xplore This repository is the official implementation of the paper: End-To-End Optimi

HRegNet: A Hierarchical Network for Efficient and Accurate Outdoor LiDAR Point Cloud Registration Environments The code mainly requires the following

ALLINONE-Det ALLINONE-Det is a general and strong 3D object detection codebase built on OpenPCDet, which supports more methods, datasets and tools (de

urban_road_filter: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles Dependency ROS (tested with Kinetic and

UnpNet Citation Please cite the following paper if you use this repository in your reseach. @article {PMID:34914599, Title = {Rethinking 3-D LiDAR Po

Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving This paper has been accpeted by Conference o

SfMLearner This codebase implements the system described in the paper: Unsupervised Learning of Depth and Ego-Motion from Video Tinghui Zhou, Matthew

Autonomous Perception: 3D Object Detection with Complex-YOLO LiDAR object detect

Isaac ROS Visual Odometry This repository provides a ROS2 package that estimates stereo visual inertial odometry using the Isaac Elbrus GPU-accelerate

PIXOR: Real-time 3D Object Detection from Point Clouds This is a custom implementation of the paper from Uber ATG using PyTorch 1.0. It represents the

TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo Lukas Koestler1*    Nan Yang1,2*,†    Niclas Zeller2,3    Daniel Cremers1

Robotics with GPU computing Cupoch is a library that implements rapid 3D data processing for robotics using CUDA. The goal of this library is to imple

MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions,spherical coordinates, and intensity Introduction The 3D LiDAR place recognition aim

Robust Place Recognition using an Imaging Lidar A place recognition package using high-resolution imaging lidar. For best performance, a lidar equippe

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds DLO is a lightweight and computationally-efficient frontend LiDAR odometry solution w

Cooperative Driving Dataset (CODD) The Cooperative Driving dataset is a synthetic dataset generated using CARLA that contains lidar data from multiple

🤖 RoboCop 🤖 Small Robot, with LIDAR and DepthCamera. Using ROS for Maping and Navigation Made by Clemente Donoso, 📍 Chile 🇨🇱 RoboCop Lateral Fron

Depth Clustering This is a fast and robust algorithm to segment point clouds taken with Velodyne sensor into objects. It works with all available Velo

Semi-supervised Implicit Scene Completion from Sparse LiDAR Paper Created by Pengfei Li, Yongliang Shi, Tianyu Liu, Hao Zhao, Guyue Zhou and YA-QIN ZH

SuMa++: Efficient LiDAR-based Semantic SLAM This repository contains the implementation of SuMa++, which generates semantic maps only using three-dime

HybVIO A visual-inertial odometry system with an optional SLAM module. This is a research-oriented codebase, which has been published for the purposes

OpenPCDet OpenPCDet is a clear, simple, self-contained open source project for LiDAR-based 3D object detection. It is also the official code release o

Semi-supervised Implicit Scene Completion from Sparse LiDAR Paper Created by Pengfei Li, Yongliang Shi, Tianyu Liu, Hao Zhao, Guyue Zhou and YA-QIN ZH

A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes

ICCVW21-TradiCV-Survey-of-LiDAR-Cluster Motivation In contrast to popular end-to-end deep learning LiDAR panoptic segmentation solutions, we propose a

fasterGICP This package is an improvement of fast_gicp Please cite our paper if possible. W. Jikai, M. Xu, F. Farzin, D. Dai and Z. Chen, "FasterGICP:

RAANet: Range-Aware Attention Network for LiDAR-based 3D Object Detection with Auxiliary Density Level Estimation Anonymous submission Abstract 3D obj

Lidar with Velocity A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud. related paper: Lidar with Velocity : Motion

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks This is a Pytorch-Lightning implementation of the paper "Self-s

DD3D: "Is Pseudo-Lidar needed for Monocular 3D Object detection?" Install // Datasets // Experiments // Models // License // Reference Full video Offi

RRxIO - Robust Radar Visual/Thermal Inertial Odometry RRxIO offers robust and accurate state estimation even in challenging visual conditions. RRxIO c

mini-map-maker A tool for automatically generating 3D printable STLs from freely available lidar scan data. Screenshots Tutorial To use this script, g

FPS-Net Code for "FPS-Net: A convolutional fusion network for large-scale LiDAR point cloud segmentation", accepted by ISPRS journal of Photogrammetry

pyLiDAR-SLAM This codebase proposes modular light python and pytorch implementations of several LiDAR Odometry methods, which can easily be evaluated

HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration Introduction The repository contains the source code and pre-tr

Exploring Simple 3D Multi-Object Tracking for Autonomous Driving Chenxu Luo, Xiaodong Yang, Alan Yuille Exploring Simple 3D Multi-Object Tracking for

Perception-Aware Multi-Sensor Fusion for 3D LiDAR Semantic Segmentation (ICCV 2021) [中文|EN] 概述 本工作主要探索一种高效的多传感器（激光雷达和摄像头）融合点云语义分割方法。现有的多传感器融合方法主要将点云投影

PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization (CVPR 2021) This is the official implementation of PW

Lidar-Segementation An implementation on "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance" from

EgonNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale Paper: EgoNN: Egocentric Neural Network for Point Cloud

Divide-and-Merge-LiDAR-Panoptic-Cluster A demo video of our method with semantic prior: More information will be coming soon! As a PhD student, I don'

Benchmark tools for Compressive LiDAR-to-map registration This repo contains the released version of code and datasets used for our IROS 2021 paper: "

CT-ICP: Elastic SLAM for LiDAR sensors This repository implements the SLAM CT-ICP (see our article), a lightweight, precise and versatile pure LiDAR o

Official implementation for paper "Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR"

FIDNet_SemanticKITTI Motivation Implementing complicated network modules with only one or two points improvement on hardware is tedious. So here we pr

Self-Supervised Pillar Motion Learning for Autonomous Driving Chenxu Luo, Xiaodong Yang, Alan Yuille Self-Supervised Pillar Motion Learning for Autono

This repo implements a topological SLAM system. Deep Visual Odometry (DF-VO) and Visual Place Recognition are combined to form the topological SLAM system.

PointNav-VO The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigation Project Page | Paper Table of Contents Setup

LiDAR fog simulation Created by Martin Hahner at the Computer Vision Lab of ETH Zurich. This is the official code release of the paper Fog Simulation

Part-Aware Data Augmentation for 3D Object Detection in Point Cloud This repository contains a reference implementation of our Part-Aware Data Augment

ACSC Automatic extrinsic calibration for non-repetitive scanning solid-state LiDAR and camera systems. System Architecture 1. Dependency Tested with U

SynLiDAR dataset: Learning From Synthetic LiDAR Sequential Point Cloud This is official repository of the SynLiDAR dataset. For technical details, ple

LiDAR-MOS: Moving Object Segmentation in 3D LiDAR Data This repo contains the code for our paper: Moving Object Segmentation in 3D LiDAR Data: A Learn

DeLORA: Self-supervised Deep LiDAR Odometry for Robotic Applications Overview Paper: link Video: link ICRA Presentation: link This is the correspondin

LiDAR R-CNN: An Efficient and Universal 3D Object Detector Introduction This is the official code of LiDAR R-CNN: An Efficient and Universal 3D Object

DLL: Direct Lidar Localization Summary This package presents DLL, a direct map-based localization technique using 3D LIDAR for its application to aeri

Point Cloud Denoising input segmentation output raw point-cloud valid/clear fog rain de-noised Abstract Lidar sensors are frequently used in environme

VID-Fusion VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation Authors: Ziming Ding , Tiankai Yang, Kunyi Zhan

Locus This repository is an open-source implementation of the ICRA 2021 paper: Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order

T-LOAM: Truncated Least Squares Lidar-only Odometry and Mapping in Real-Time The first Lidar-only odometry framework with high performance based on tr

Overlap-based 3D LiDAR Monte Carlo Localization This repo contains the code for our IROS2020 paper: Learning an Overlap-based Observation Model for 3D

SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving Abstract In this paper, we introduce SalsaNext f

Inferring Spatial Uncertainty in Object Detection A teaser version of the code for the paper Labels Are Not Perfect: Inferring Spatial Uncertainty in

radar-to-lidar-place-recognition This page is the coder of a pre-print, implemented by PyTorch. If you have some questions on this project, please fee

LiDARTag Overview This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds (PDF)(arXiv). This wo

Range Image-based 3D LiDAR Localization This repo contains the code for our ICRA2021 paper: Range Image-based LiDAR Localization for Autonomous Vehicl

LVI-SAM This repository contains code for a lidar-visual-inertial odometry and mapping system, which combines the advantages of LIO-SAM and Vins-Mono

3D-CVF This is the official implementation of 3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object

WhiteboxTools-ArcGIS ArcGIS Python Toolbox for WhiteboxTools. This repository is related to the ArcGIS Python Toolbox for WhiteboxTools, which is an A

whitebox-python Important Note This repository is related to the WhiteboxTools Python Frontend only. You can report issues to this repo if you have pr

Welcome to the lidar package lidar is Python package for delineating the nested hierarchy of surface depressions in digital elevation models (DEMs). I

Poisson Surface Reconstruction for LiDAR Odometry and Mapping Surfels TSDF Our Approach Table: Qualitative comparison between the different mapping te

SSL_SLAM2 Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example) This repo is an extension work of SSL_SL

Lidar-data-decode In this project, you can decode your lidar data frame(pcap file) and make your own datasets(test dataset) in Windows without any hug

CLOCs is a novel Camera-LiDAR Object Candidates fusion network. It provides a low-complexity multi-modal fusion framework that improves the performance of single-modality detectors. CLOCs operates on the combined output candidates of any 3D and any 2D detector, and is trained to produce more accurate 3D and 2D detection results.

LiDAR-Transfer Transfer SemanticKITTI labeles into other dataset/sensor formats. Content Convert datasets (NUSCENES, FORD, NCLT) to KITTI format Minim

whiteboxgui An interactive GUI for WhiteboxTools in a Jupyter-based environment GitHub repo: https://github.com/giswqs/whiteboxgui Documentation: http