LIDAR
Sensor for measuring distances by illuminating the target with laser light.
Contents
Manufacturers
Datasets
Navigation and localisation dataset for self driving cars and autonomous robots in Brno, Czechia.
A dataset designed to support autonomous vehicle perception tasks including 3D tracking and motion forecasting collected in Pittsburgh, Pennsylvania and Miami, Florida, USA.
Libraries
Algorithms
Basic matching algorithms
Semantic segmentation
Fast and Accurate LiDAR Sematnic Segmentation with fully convolutional network.
An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation.
Frustum PointNets for 3D Object Detection from RGB-D Data.
Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study IV 2020.
Moving Object Segmentation in 3D LIDAR Data
Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs
Efficient 3D Semantic Segmentation with Superpoint Transformer
Efficient Semantic Segmentation of Large-Scale Point Clouds
Automatic labelling of urban point clouds using data fusion
Ground segmentation
ROS comapatible ground plane segmentation; a library for fitting planes to LIDAR.
Line fitting-based fast ground segmentation for horizontal 3D LiDAR data
Region-wise plane fitting-based robust and fast ground segmentation for 3D LiDAR data
Improved version of Patchwork. Patchwork++ provides pybinding as well for deep learning users
High-precision grid-based ground segmentation for LiDAR point clouds designed for safety-critical robotics and autonomous driving.
High-precision grid-based ground segmentation for LiDAR point clouds designed for safety-critical robotics and autonomous driving.
Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM
A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs.
ROS 2 verison on different repo
Cartographer is ROS compatible system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
LiDAR-based Semantic SLAM.
Loop Closing for LiDAR-based SLAM.
Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images.
Recursive Spline Estimation for LiDAR-Based Odometry
KISS-SLAM is a simple, robust, and accurate 3D LiDAR SLAM system that just works.
Fast LiDAR-Inertial Odometry is a computationally efficient and robust LiDAR-inertial odometry package
Modular system for Localization and Mapping, providing LiDAR Odometry (LO), LiDAR-inertial Odometry (LIO), SLAM, localization-only modes, and geo-referencing.
Object detection and object tracking
Simulators
OGRE-based general-purpose robotic simulator, ROS/ROS 2 compatible.
Unreal Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS 2.
Unity Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS 2. Note: LG has made the difficult decision to suspend active development of SVL Simulator.
Unity Engine based simulator for automotive applications, based on the suspended LGSVL simulator, but an active development. Compatible with Autoware, Baidu Apollo and ROS 2.
Unreal Engine based simulator for drones and automotive. Compatible with ROS.
Unity Engine based simulator for automotive applications. Compatible with Autoware and ROS 2.
Related awesome
Moving Object Segmentation
Others
Using $5 Google Cardboard to replicate Microsoft Hololens. Hosts the source code for research on scene color reconstruction.
A tool to turn point cloud data from aerial lidar scans into solid meshes for 3D printing.
Point cloud importer/renderer for Unity.
Point cloud importer/renderer/editor for Blender, Point Cloud visualizer.
Point cloud and image semantic segmentation editor by Hitachi Automotive And Industry Laboratory, point cloud annotator / labeling.
3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams, point cloud annotator / labeling.
Blender addon to import reconstruction results of several libraries.