Python Lidar-point-clouds Resources

DGCNN is the author's re-implementation of Dynamic Graph CNN, which achieves state-of-the-art performance on point-cloud-related high-level tasks including category classification, semantic segmentation and part segmentation.

PREDATOR: Registration of 3D Point Clouds with Low Overlap An inofficial PyTorch implementation of PREDATOR based on KPConv. The code has been tested

An efficient 3D semantic segmentation framework for Urban-scale point clouds like SensatUrban, Campus3D, etc.

Point Cloud Registration using Representative Overlapping Points (ROPNet) Abstract 3D point cloud registration is a fundamental task in robotics and c

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

TreePartNet This is the code repository implementing the paper "TreePartNet: Neural Decomposition of Point Clouds for 3D Tree Reconstruction". Depende

Certifiable Outlier-Robust Geometric Perception About This repository holds the implementation for certifiably solving outlier-robust geometric percep

Point Cloud ToolBox This point cloud processing tool library can be used to process point clouds, 3d meshes, and voxels. Environment python 3.7.5 Dep

Spatio-temporal Self-Supervised Representation Learning for 3D Point Clouds This is the official code implementation for the paper "Spatio-temporal Se

AdaFit: Rethinking Learning-based Normal Estimation on Point Clouds (ICCV 2021 oral) **Project Page | Arxiv ** Runsong Zhu¹, Yuan Liu², Zhen Dong¹, Te

TearingNet: Point Cloud Autoencoder to Learn Topology-Friendly Representations Created by Jiahao Pang, Duanshun Li, and Dong Tian from InterDigital In

Adaptive Graph Convolution for Point Cloud Analysis This repository contains the implementation of AdaptConv for point cloud analysis. Adaptive Graph

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

You Only Hypothesize Once: Point Cloud Registration with Rotation-equivariant Descriptors In this paper, we propose a novel local descriptor-based fra

CAPRI: Context-Aware Interpretable Point-of-Interest Recommendation Framework This repository contains a framework for Recommender Systems (RecSys), a

🔥Deep Learning for 3D Point Clouds (IEEE TPAMI, 2020)

pyntcloud is a Python library for working with 3D point clouds.

Box-Aware Tracker (BAT) Pytorch-Lightning implementation of the Box-Aware Tracker. Box-Aware Feature Enhancement for Single Object Tracking on Point C

PoinTr: Diverse Point Cloud Completion with Geometry-Aware Transformers Created by Xumin Yu*, Yongming Rao*, Ziyi Wang, Zuyan Liu, Jiwen Lu, Jie Zhou

Learning-Action-Completeness-from-Points Official Pytorch Implementation of 'Learning Action Completeness from Points for Weakly-supervised Temporal A

Map Metrics for Trajectory Quality Map metrics toolkit provides a set of metrics to quantitatively evaluate trajectory quality via estimating consiste

3D Cascade RCNN This is the implementation of 3D Cascade RCNN: High Quality Object Detection in Point Clouds. We designed a 3D object detection model

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

MS-SVConv : 3D Point Cloud Registration with Multi-Scale Architecture and Self-supervised Fine-tuning Compute features for 3D point cloud registration

Diversity-based Trajectory and Goal Selection with Hindsight Experience Replay This is the official implementation of our paper "Diversity-based Traje

An Effective Loss Function for Generating 3D Models from Single 2D Image without Rendering Papers with code | Paper Nikola Zubić Pietro Lio University

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

NumMenu Bot NumMenu Bot is an example chatbot showing a way to design a number-based menu assistant with Rasa. This type of bot is very useful on plat

PRIN/SPRIN: On Extracting Point-wise Rotation Invariant Features Overview This repository is the Pytorch implementation of PRIN/SPRIN: On Extracting P

Investigating Attention Mechanism in 3D Point Cloud Object Detection (arXiv 2021) This repository is for the following paper: "Investigating Attention

Cloud Transformers: A Universal Approach To Point Cloud Processing Tasks This is an official PyTorch code repository of the paper "Cloud Transformers:

Unsupervised 3D Human Mesh Recovery from Noisy Point Clouds Xinxin Zuo, Sen Wang, Minglun Gong, Li Cheng Prerequisites We have tested the code on Ubun

ASAP-Net This project implements ASAP-Net of paper ASAP-Net: Attention and Structure Aware Point Cloud Sequence Segmentation (BMVC2020). Overview We i

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

Licensing The majority of neural-scs is licensed under the CC BY-NC 4.0 License, however, portions of the project are available under separate license

This repository contains the SystemVerilog RTL, C++, HLS (Intel FPGA OpenCL to wrap RTL code) and Python needed to reproduce the numerical results in

Invariant Point Attention - Pytorch Implementation of Invariant Point Attention as a standalone module, which was used in the structure module of Alph

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

MVP Benchmark: Multi-View Partial Point Clouds for Completion and Registration [NEWS] 2021-07-12 [NEW 🎉 ] The submission on Codalab starts! 2021-07-1

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

CLIPPER: A Graph-Theoretic Framework for Robust Data Association Data association is a fundamental problem in robotics and autonomy. CLIPPER provides

Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion (CVPR 2021) This repository is for BAAF-Net introduce

Deepak Clouds Torrent is a multipurpose Telegram Bot writen in Python for mirroring files on the Internet to our beloved Google Drive.

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

Unsupervised Learning for Cuboid Shape Abstraction via Joint Segmentation from Point Clouds This repository is a PyTorch implementation for paper: Uns

CloudAAE This is an tensorflow implementation of "CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Clouds" Files log:

GraspNet Baseline Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020). [paper] [dataset] [API] [do

Pytorch Implementation of PointNet and PointNet++ This repo is implementation for VA-GCN in pytorch. Classification (ModelNet10/40) Data Preparation D

Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline Ankit Goyal, Hei Law, Bowei Liu, Alejandro Newell, Jia Deng Internati

An implementation of a floating-point binary fractions class and module in Python. Work with binary fractions and binary floats with ease!

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

Point 4D Transformer Networks for Spatio-Temporal Modeling in Point Cloud Videos Introduction Point cloud videos exhibit irregularities and lack of or

HPRNet: Hierarchical Point Regression for Whole-Body Human Pose Estimation Official PyTroch implementation of HPRNet. HPRNet: Hierarchical Point Regre

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

Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences 1. Introduction This project is for paper Model-free Vehicle Tracking and St

3D AffordanceNet This repository is the official experiment implementation of 3D AffordanceNet benchmark. 3D AffordanceNet is a 3D point cloud benchma

RLLReg This repository contains a Pytorch implementation of the point set registration method RLLReg. Details about the method can be found in the 3DV

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

Fast-Robust-ICP This repository includes the source code the paper Fast and Robust Iterative Closet Point. Authors: Juyong Zhang, Yuxin Yao, Bailin De

Point Cloud Audio Processing Krishna Subramani1, Paris Smaragdis1 1UIUC Paper For the necessary libraries/prerequisites, please use conda/anaconda to

PV-RAFT This repository contains the PyTorch implementation for paper "PV-RAFT: Point-Voxel Correlation Fields for Scene Flow Estimation of Point Clou

DEPOCO This repository implements the algorithms described in our paper Deep Compression for Dense Point Cloud Maps. How to get started (using Docker)

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

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

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

Fast and Flexible Temporal Point Processes with Triangular Maps This repository includes a reference implementation of the algorithms described in "Fa

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

Compute Shader Based Point Cloud Rendering This repository contains the source code to our techreport: Rendering Point Clouds with Compute Shaders and

VRCNet: Variational Relational Point Completion Network This repository contains the PyTorch implementation of the paper: Variational Relational Point

Few-shot 3D Point Cloud Semantic Segmentation Created by Na Zhao from National University of Singapore Introduction This repository contains the PyTor

Self-Supervised Learning for Domain Adaptation on Point-Clouds Introduction Self-supervised learning (SSL) allows to learn useful representations from

BRNet Introduction This is a release of the code of our paper Back-tracing Representative Points for Voting-based 3D Object Detection in Point Clouds,

BRNet Introduction This is a release of the code of our paper Back-tracing Representative Points for Voting-based 3D Object Detection in Point Clouds,

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

CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds Introduction This is the official PyTorch implementation of o

MMDetection3D is an open source object detection toolbox based on PyTorch, towards the next-generation platform for general 3D detection. It is a part of the OpenMMLab project developed by MMLab.

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

RfD-Net [Project Page] [Paper] [Video] RfD-Net: Point Scene Understanding by Semantic Instance Reconstruction Yinyu Nie, Ji Hou, Xiaoguang Han, Matthi

PSTNet: Point Spatio-Temporal Convolution on Point Cloud Sequences Introduction Point cloud sequences are irregular and unordered in the spatial dimen

PointDSC repository PyTorch implementation of PointDSC for CVPR'2021 paper "PointDSC: Robust Point Cloud Registration using Deep Spatial Consistency",

A-CNN: Annularly Convolutional Neural Networks on Point Clouds Created by Artem Komarichev, Zichun Zhong, Jing Hua from Department of Computer Science

PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds by Mutian Xu*, Runyu Ding*, Hengshuang Zhao, and Xiaojuan Qi. Int

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

Style-based Point Generator with Adversarial Rendering for Point Cloud Completion (CVPR 2021) An efficient PyTorch library for Point Cloud Completion.

You Only Group Once: Efficient Point-Cloud Processing with Token Representation and Relation Inference Module By Chenfeng Xu, Bohan Zhai, Bichen Wu, T

BiPointNet: Binary Neural Network for Point Clouds Created by Haotong Qin, Zhongang Cai, Mingyuan Zhang, Yifu Ding, Haiyu Zhao, Shuai Yi, Xianglong Li

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

Operating system Build Status Linux/Mac Windows tick tick is a Python 3 module for statistical learning, with a particular emphasis on time-dependent

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

Ivy vision focuses predominantly on 3D vision, with functions for camera geometry, image projections, co-ordinate frame transformations, forward warping, inverse warping, optical flow, depth triangulation, voxel grids, point clouds, signed distance functions, and others. Check out the docs for more info!

UnsupervisedR&R: Unsupervised Pointcloud Registration via Differentiable Rendering This repository holds all the code and data for our recent work on

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.