Python Lidar-slam 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

SUO-SLAM This repository hosts the code for our CVPR 2022 paper "Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation". ArXiv li

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

modern-slam-tutorial-python Learning and feeling SLAM together with hands-on-experiments 😀 😃 😆 Dependencies Most of the examples are based on GTSAM

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

Struct-MDC (click the above buttons for redirection!) Official page of "Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural R

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

Voronoi Multi_Robot Collaborate Exploration Introduction In the unknown environment, the cooperative exploration of multiple robots is completed by Vo

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.

KinectFusion implemented in Python with PyTorch This is a lightweight Python implementation of KinectFusion. All the core functions (TSDF volume, fram

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

Phase-SLAM A Pose Estimator for Dense Reconstruction with the Structured Light Illumination Sensor This open source is written by MATLAB Run Mode Open

Code for Multimodal Neural SLAM for Interactive Instruction Following Code structure The code is adapted from E.T. and most training as well as data p

HySLAM Overview hySLAM is a hybrid SLAM/SfM system designed for mapping. The system is based on ORB-SLAM2 with some modifications and refactoring. Raú

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

Cross View SLAM This is the associated code and dataset repository for our paper I. D. Miller et al., "Any Way You Look at It: Semantic Crossview Loca

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

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

RDC-SLAM This repository contains code for a real-time distributed cooperative slam(RDC-SLAM) system for ROS compatible platforms. The system takes in

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

G2LTex This repository contains the implementation of "Texture Mapping for 3D Reconstruction with RGB-D Sensor (CVPR2018)" based on mvs-texturing. Due

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

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

slamcore_utils Description This repo contains the slamcore-setup-dataset script. It can be used for installing a sample dataset for offline testing an

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

slam-playground Educational 2D SLAM implementation based on ICP and Pose Graph How to use: Use keyboard arrow keys to navigate robot. Press 'r' to vie

Research on Event Accumulator Settings for Event-Based SLAM This is the source code for paper "Research on Event Accumulator Settings for Event-Based

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

ORB-SLAM2 Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2) 13 Jan 2017: OpenCV 3 and Eigen 3.3 are now suppor

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

g2o - General Graph Optimization Linux: Windows: g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions. g2o has bee

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

Navigation 2 SLAM Example This example provides a Unity Project and a colcon workspace that, when used together, allows a user to substitute Unity as

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

airbotics The ROS package for Airbotics: Developed for ROS 1 and Python 3.8. The package has not been officially released on ROS yet so manual install

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

COVINS -- A Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping Version 1.0 COVINS is an accurate, scalable, and versatile vis

Slam Mirror Bot is a multipurpose Telegram Bot written in Python for mirroring files on the Internet to our beloved Google Drive.

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

🎓Automatically Update CV Papers Daily using Github Actions (Update at 12:00 UTC Every Day)

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.

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

ManhattanSLAM Authors: Raza Yunus, Yanyan Li and Federico Tombari ManhattanSLAM is a real-time SLAM library for RGB-D cameras that computes the camera

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

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

FastFlowNet: A Lightweight Network for Fast Optical Flow Estimation The official PyTorch implementation of FastFlowNet (ICRA 2021). Authors: Lingtong

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

Semantic SLAM This package can perform optimization of pose estimated from VO/VIO methods which tend to drift over time. It uses planar surfaces extra

owner of this repo :- AYUSH contact me :- AYUSH Slam Mirror Bot This is a telegram bot writen in python for mirroring files on the internet to our bel

FLVIS Feedback Loop Based Visual Inertial SLAM 1-Video EuRoC DataSet MH_05 Handheld Test in Lab FlVIS on UAV Platform 2-Relevent Publication: Under Re

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

TaichiSLAM This project is a 3D Dense mapping backend library of SLAM based Taichi-Lang, designed for the aerial swarm. Intro Taichi is an efficient d

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

PythonRobotics Python codes for robotics algorithm. Table of Contents What is this? Requirements Documentation How to use Localization Extended Kalman

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)

SLAM-application: installation and test (3D): LeGO-LOAM, LIO-SAM, and LVI-SAM Tested on Quadruped robot in Gazebo ● Results: video, video2 Requirement

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