LIDAR

Ouster and Velodyne announced the successful completion of their merger of equals, effective February 10, 2023. Velodyne was a mechanical and solid-state LIDAR manufacturer. The headquarter is in San Jose, California, USA.YouTube channel ROS driver C++/Python library

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

LIDAR manufacturer.YouTube channel GitHub organization

Sensor and automation manufacturer, the headquarter is located in Waldkirch, Germany.YouTube channel GitHub organization

Sensor and automation manufacturer, headquartered in Osaka, Japan.YouTube channel

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

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

Hesai Technology is a LIDAR manufacturer, founded in Shanghai, China.YouTube channel GitHub organization

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

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

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

Innoviz technologies / specializes in solid-state LIDARs.YouTube channel

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.YouTube channel

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.YouTube channel

Blickfeld is a solid-state LIDAR manufacturer for autonomous mobility and IoT, based in München, Germany.YouTube channel GitHub organization

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

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.YouTube channel GitHub organization

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

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

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.YouTube channel

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

Riegl is a manufacturer of 3D laser scanning systems, based in Austria.YouTube channel GitHub organization

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.Paper GitHub repository

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

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.YouTube channel Paper

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.Paper

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.YouTube video

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

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.Paper

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.Paper

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 compatiblePaper

Navigation and localisation dataset for self driving cars and autonomous robots in Brno, Czechia.Paper YouTube video

A dataset designed to support autonomous vehicle perception tasks including 3D tracking and motion forecasting collected in Pittsburgh, Pennsylvania and Miami, Florida, USA.Paper YouTube video

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.[Paper …

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

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

A geometric deep learning extension library for PyTorch.GitHub repository

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

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

3D plotting and mesh analysis through a streamlined interface for the Visualization Toolkit.GitHub repository Paper

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

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

C++ library and command-line tools for pointcloud processing and data compressing.GitHub repository

Popular framework in academic and research applications of autonomous vehicles.GitHub oragnization Paper

Apollo is a popular framework which accelerates the development, testing, and deployment of Autonomous Vehicles.GitHub repository YouTube channel

An open-source framework for developing processing algorithms, with a focus on embedded platforms and hardware acceleration.GitHub repository

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.Paper - 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.GitHub repository Paper

Fast and Accurate LiDAR Sematnic Segmentation with fully convolutional network.GitHub repository YouTube video

An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation.GitHub repository YouTube video

Frustum PointNets for 3D Object Detection from RGB-D Data.GitHub repository

Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study IV 2020.Paper GitHub repository

Moving Object Segmentation in 3D LIDAR DataGitHub repository YouTube video

Large-scale Point Cloud Semantic Segmentation with Superpoint GraphsGitHub repository YouTube video

Efficient 3D Semantic Segmentation with Superpoint TransformerGitHub repository YouTube video

Efficient Semantic Segmentation of Large-Scale Point CloudsGitHub repository YouTube video

Automatic labelling of urban point clouds using data fusionGitHub repository YouTube video

ROS comapatible ground plane segmentation; a library for fitting planes to LIDAR.YouTube video

Line fitting-based fast ground segmentation for horizontal 3D LiDAR dataGitHub repository

Region-wise plane fitting-based robust and fast ground segmentation for 3D LiDAR dataGitHub repository YouTube video

Improved version of Patchwork. Patchwork++ provides pybinding as well for deep learning usersGitHub repository YouTube video

LOAM: Lidar Odometry and Mapping in Real-time.

A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs.YouTube video ROS 2 verison on different repo: GitHub repository

Cartographer is ROS compatible system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. YouTube video

LiDAR-based Semantic SLAM.GitHub repository YouTube video

Loop Closing for LiDAR-based SLAM.GitHub repository YouTube video

Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.GitHub repository YouTube video

Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images.GitHub repository YouTube video

Recursive Spline Estimation for LiDAR-Based OdometryGitHub repository YouTube video

KISS-SLAM is a simple, robust, and accurate 3D LiDAR SLAM system that just works.GitHub repository

Fast LiDAR-Inertial Odometry is a computationally efficient and robust LiDAR-inertial odometry packageGitHub repository YouTube video

Modular system for Localization and Mapping, providing LiDAR Odometry (LO), LiDAR-inertial Odometry (LIO), SLAM, localization-only modes, and geo-referencing.GitHub repository YouTube video

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

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

By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019.YouTube video GitHub repository

Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous VehiclesGitHub repository YouTube video

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

General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration ToolboxGitHub repository Paper

A Multi-sensor Calibration Toolbox for Autonomous DrivingPaper

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

OGRE-based general-purpose robotic simulator, ROS/ROS 2 compatible.GitHub repository

Unreal Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS 2.GitHub repository YouTube channel

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.GitHub repository YouTube channel

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.GitHub repository YouTube video

Unreal Engine based simulator for drones and automotive. Compatible with ROS.GitHub repository YouTube video

Unity Engine based simulator for automotive applications. Compatible with Autoware and ROS 2.GitHub repository YouTube video

Moving Object Segmentation

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.

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

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.Paper YouTube video

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.GitHub repository YouTube channel

Lichtblick is an open-source alternative to Foxglove Studio for visualizing and analyzing robotics data.GitHub repository

Rerun is a tool for time-aware multimodal data stack and visualizations.GitHub repository YouTube channel

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

is a lightweight, c++ single-header, cross-platform point cloud viewer, designed for simplicity and efficiency without relying on heavy external libraries like PCL or Open3D.GitHub repository

Slambotics - Choosing the Right SLAM Algorithm