awesome-lidar

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Ouster and Velodyne announced the successful completion of their of equals, effective February 10, 2023. Velodyne was a mechanical and solid-state LIDAR manufacturer. The headquarter is in San Jose, California, USA

LIDAR manufacturer, specializing in digital-spinning LiDARs. Ouster is headquartered in San Francisco, USA

LIDAR manufacturer

Sensor and automation manufacturer, the headquarter is located in Waldkirch, Germany

Sensor and automation manufacturer, headquartered in Osaka, Japan

LIDAR manufacturer, specializing in MEMS mirror-based raster scanning LiDARs (3D-LiDAR). Pioneer is headquartered in Tokyo, Japan

LIDAR manufacturer focusing on compact, auto-grade sensors. Luminar is headquartered Palo Alto, California, USA

Hesai Technology is a LIDAR manufacturer, founded in Shanghai, China

RoboSense (Suteng Innovation Technology Co., Ltd.) is a LIDAR sensor, AI algorithm and IC chipset maufactuirer based in Shenzhen and Beijing (China)

LSLiDAR (Leishen Intelligent System Co., Ltd.) is a LIDAR sensor manufacturer and complete solution provider based in Shenzhen, China

Ibeo Automotive Systems GmbH is an automotive industry / environmental detection laserscanner / LIDAR manufacturer, based in Hamburg, Germany

Innoviz technologies / specializes in solid-state LIDARs

Quanenergy Systems / solid-state and mechanical LIDAR sensors / offers End-to-End solutions in Mapping, Industrial Automation, Transportation and Security. The headquarter is located in Sunnyvale, California, USA

Cepton (Cepton Technologies, Inc.) / pioneers in frictionless, and mirrorless design, self-developed MMT (micro motion technology) lidar technology. The headquarter is located in San Jose, California, USA

Blickfeld is a solid-state LIDAR manufacturer for autonomous mobility and IoT, based in München, Germany

Neuvition is a solid-state LIDAR manufacturer based in Wujiang, China

Aeva is bringing the next wave of perception technology to all devices for automated driving, consumer electronics, health, industrial robotics and security, Mountain View, California, USA

XenomatiX offers true solid-state lidar sensors based on a multi-beam lasers concept. XenomatiX is headquartered in Leuven, Belgium

A pioneer in MEMS-based laser beam scanning technology, the main focus is on building Automotive grade Lidar sensors, located in Hamburg, Germany

PreAct's mission is to make life safer and more efficient for the automotive industry and beyond. The headquarter is located in Portland, Oregon, USA

Is a global technology company, specialized in innovative automation solutions and sensor technologies, such as LiDAR, based in Mannheim, Germany

The dataset is time-stamped and contains raw data from all the sensors, calibration values, pose trajectory, ground truth pose, and 3D maps. The data is Robot Operating System (ROS) compatible

The dataset features 2D semantic segmentation, 3D point clouds, 3D bounding boxes, and vehicle bus data

The dataset contains independently-generated labels for lidar and camera data, not simply projections

The Oxford RobotCar Dataset contains over 100 repetitions of a consistent route through Oxford, UK, captured over a period of over a year

This dataset was collected with our robocar (in human driving mode of course), equipped up to eleven heterogeneous sensors, in the downtown (for long-term data) and a suburb (for roundabout data) of Montbéliard in France. The vehicle speed was limited to 50 km/h following the French traffic rules

Public large-scale dataset for autonomous driving

Public dataset collected by a fleet of Ford Fusion vehicles equipped with LIDAR and camera

Widespread public dataset, pirmarily focusing on computer vision applications, but also contains LIDAR point cloud

Dataset for semantic and panoptic scene segmentation

Public large-scale dataset for autonomous driving in adverse weather conditions (snowy weather)

University of Toronto, aUToronto's self-driving car dataset, which contains GPS/IMU, 3D LIDAR, and Monocular camera data. It can be used for 3D pedestrian detection

Public large-scale dataset for autonomous driving provided by Hesai & Scale. It enables researchers to study challenging urban driving situations using the full sensor suit of a real self-driving-car

A public datatset from non-uniform distribution of LIDAR scanning patterns with emphasis on long range. In this dataset Luminar Hydra LIDAR is used. The dataset is available at the Volvo Cars Innovation Portal

Long-term, large-scale dataset collected over the period of 1.5 years on a weekly basis over the University of Sydney campus and surrounds. It includes multiple sensor modalities and covers various environmental conditions. ROS compatible

Brno Urban Dataset

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

The Boreas dataset was collected by driving a repeated route over the course of 1 year resulting in stark seasonal variations. In total, Boreas contains over 350km of driving data including several sequences with adverse weather conditions such as rain and heavy snow. The Boreas data-taking platform features a unique high-quality sensor suite with a 128-channel Velodyne Alpha Prime lidar, a 360-degree Navtech radar, and accurate ground truth poses obtained from an Applanix POSLV GPS/IMU

Popular highly parallel programming library, with numerous industrial and research use-cases

Open3D library contanins 3D data processing and visualization algorithms. It is open-source and supports both C++ and Python

A geometric deep learning extension library for PyTorch

PyTorch3d is a library for deep learning with 3D data written and maintained by the Facebook AI Research Computer Vision Team

Kaolin is a PyTorch Library for Accelerating 3D Deep Learning Research written by NVIDIA Technologies for game and application developers

3D plotting and mesh analysis through a streamlined interface for the Visualization Toolkit

Pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack

Python library for efficient analysis of large datasets of point clouds recorded over time

Popular framework in academic and research applications of autonomous vehicles

Apollo is a popular framework which accelerates the development, testing, and deployment of Autonomous Vehicles

The must-have algorithm for feature matching applications (ICP)

GitHub repository

simpleICP C++ /Julia / Matlab / Octave / Python implementation

GitHub repository

libpointmatcher, a modular library implementing the ICP algorithm

libpointmatcher: Comparing ICP variants on real-world data sets

More recent massively-parallel approach to feature matching (NDT)

In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way

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 Semantic Segmentation of Large-Scale Point Clouds

Automatic labelling of urban point clouds using data fusion

Plane Seg

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

LOAM: Lidar Odometry and Mapping in Real-time

LeGO-LOAM

A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs

Cartographer

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

By Peiyun Hu, David Held, and Deva Ramanan at Carnegie Mellon University. IEEE Robotics and Automation Letters, 2020

By Di Feng, Lars Rosenbaum, Fabian Timm, Klaus Dietmayer. 30th IEEE Intelligent Vehicles Symposium, 2019

By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019

- Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles

3D-LIDAR Multi Object Tracking for Autonomous Driving: Multi-target Detection and Tracking under Urban Road Uncertainties, also used in Autoware Universe

General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox

OpenCalib

A Multi-sensor Calibration Toolbox for Autonomous Driving

Cross-platform general-purpose robotic simulator (formerly known as V-REP)

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. LG has made the difficult decision to active development of SVL Simulator

OSSDC SIM

Unity Engine based simulator for automotive applications, based on the suspended LGSVL simulator, but an active development. Compatible with Autoware, Baidu Apollo and ROS/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

ARHeadsetKit

Using $5 Google Cardboard to replicate Microsoft Hololens. Hosts the source code for research on

Pointcloudprinter

A tool to turn point cloud data from aerial lidar scans into solid meshes for 3D printing

CloudCompare is a free, cross-platform point cloud editor software

Pcx

Point cloud importer/renderer for Unity

Bpy

Point cloud importer/renderer/editor for Blender, Point Cloud visualizer

Semantic Segmentation Editor

Point cloud and image semantic segmentation editor by Hitachi Automotive And Industry Laboratory, point cloud annotator / labeling

3D Bounding Box Annotation Tool

3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams, point cloud annotator / labeling

Photogrammetry importer

Blender addon to import reconstruction results of several libraries

Foxglove Studio is an integrated visualization and diagnosis tool for robotics, available in your browser or for download as a desktop app on Linux, Windows, and macOS

MeshLab is an open source, portable, and extensible system for the processing and editing 3D triangular meshes and pointcloud