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szenergy/awesome-lidar

HardwareΒ Β 4 days agoΒ Β 128
😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.
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Oct 21st

Others

  • ARHeadsetKitstars18 - Using $5 Google Cardboard to replicate Microsoft Hololens. Hosts the source code for research on scene color reconstructionstars6.
  • Jun 14th

    Libraries

  • pointcloudset - Python library for efficient analysis of large datasets of point clouds recorded over time.
  • Apr 27th

    Others

  • CloudCompare - CloudCompare is a free, cross-platform point cloud editor software.
  • Apr 9th

    Others

  • Semantic Segmentation Editor :octocat:stars1.1k - Point cloud and image semantic segmentation editor by Hitachi Automotive And Industry Laboratory, point cloud annotator / labeling.
  • 3D Bounding Box Annotation Tool :octocat:stars260 - 3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams, point cloud annotator / labeling.
  • Feb 3rd

    Datasets

  • Cirrus dataset 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.
  • Jan 7th

    Algorithms

    Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM

  • LIO-SAM πŸ“° - Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
  • Others

  • Bpy :octocat:stars541 - Point cloud importer/renderer/editor for Blender, Point Cloud visualizer.
  • Photogrammetry importer :octocat:stars393 - Blender addon to import reconstruction results of several libraries.
  • Dec 22nd, 2020

    Others

  • Pcx :octocat:stars920 - Point cloud importer/renderer for Unity.
  • Nov 16th, 2020

    Manufacturers

  • Velodyne - Velodyne is a mechanical and solid-state LIDAR manufacturer. The headquarter is in San Jose, California, USA.
  • SICK - Sensor and automation manufacturer, the headquarter is located in Waldkirch, Germany.
  • Innoviz - Innoviz technologies / specializes in solid-state LIDARs.
  • Quanenergy - 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 (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 - Blickfeld is a solid-state LIDAR manufacturer for autonomous mobility and IoT, based in MΓΌnchen, Germany.
  • Neuvition - Neuvition is a solid-state LIDAR manufacturer based in Wujiang, China.
  • Libraries

  • PyVista - 3D plotting and mesh analysis through a streamlined interface for the Visualization Toolkit.
  • Others

  • Pointcloudprinter :octocat:stars140 - A tool to turn point cloud data from aerial lidar scans into solid meshes for 3D printing.
  • Nov 5th, 2020

    Libraries

  • PyTorch3d - PyTorch3d is a library for deep learning with 3D data written and maintained by the Facebook AI Research Computer Vision Team.
  • Kaolin - Kaolin is a PyTorch Library for Accelerating 3D Deep Learning Research written by NVIDIA Technologies for game and application developers.
  • pyntcloud - Pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack.
  • Algorithms

    Semantic segmentation

  • Study of LIDAR Semantic Segmentation - Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study IV 2020.
  • Algorithms

    Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM

  • LOAM J. Zhang and S. Singh πŸ”΄ - LOAM: Lidar Odometry and Mapping in Real-time.
  • LeGO-LOAM :octocat:stars1.4k - A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs.
  • Oct 12th, 2020

    Algorithms

    Semantic segmentation

  • PolarNet πŸ“° - An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation.
  • Frustum PointNets πŸ“° - Frustum PointNets for 3D Object Detection from RGB-D Data.
  • Sep 8th, 2020

    Libraries

  • PyTorch Geometric πŸ“° - A geometric deep learning extension library for PyTorch.
  • Algorithms

    Basic matching algorithms

  • Iterative closest point πŸ”΄ - The must-have algorithm for feature matching applications (ICP).
  • Normal distributions transform πŸ”΄ - More recent massively-parallel approach to feature matching (NDT).
  • Algorithms

    Semantic segmentation

  • RangeNet++ πŸ“° - Fast and Accurate LiDAR Sematnic Segmentation with fully convolutional network.
  • Algorithms

    Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM

  • SuMa++ πŸ“° - LiDAR-based Semantic SLAM.
  • OverlapNet πŸ“° - Loop Closing for LiDAR-based SLAM.
  • Simulators

  • CoppeliaSim - Cross-platform general-purpose robotic simulator (formerly known as V-REP).
  • Sep 7th, 2020

    Conventions

  • Any list item with a Paper πŸ“° has a scientific paper or detailed description
  • Algorithms

    Object detection and object tracking

  • Learning to Optimally Segment Point Clouds πŸ“° - By Peiyun Hu, David Held, and Deva Ramanan at Carnegie Mellon University. IEEE Robotics and Automation Letters, 2020.
  • Leveraging Heteroscedastic Aleatoric Uncertainties for Robust Real-Time LiDAR 3D Object Detection πŸ“° - By Di Feng, Lars Rosenbaum, Fabian Timm, Klaus Dietmayer. 30th IEEE Intelligent Vehicles Symposium, 2019.
  • What You See is What You Get: Exploiting Visibility for 3D Object Detection πŸ“° - By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019.
  • Aug 25th, 2020

    Libraries

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

  • Baidu Apollo - Apollo is a popular framework which accelerates the development, testing, and deployment of Autonomous Vehicles.
  • Manufacturers

  • Ouster - LIDAR manufacturer, specializing in digital-spinning LiDARs. Ouster is headquartered in San Francisco, USA.
  • Hokuyo - Sensor and automation manufacturer, headquartered in Osaka, Japan.
  • Pioneer - LIDAR manufacturer, specializing in MEMS mirror-based raster scanning LiDARs (3D-LiDAR). Pioneer is headquartered in Tokyo, Japan.
  • Luminar - LIDAR manufacturer focusing on compact, auto-grade sensors. Luminar is headquartered Palo Alto, California, USA.
  • Hesai - Hesai Technology is a LIDAR manufacturer, founded in Shanghai, China.
  • Robosense - RoboSense (Suteng Innovation Technology Co., Ltd.) is a LIDAR sensor, AI algorithm and IC chipset maufactuirer based in Shenzhen and Beijing (China).
  • Ibeo - Ibeo Automotive Systems GmbH is an automotive industry / environmental detection laserscanner / LIDAR manufacturer, based in Hamburg, Germany.
  • Jul 21st, 2020

    Datasets

  • Waymo Open Dataset - The dataset contains independently-generated labels for lidar and camera data, not simply projections.
  • UofTPed50 Dataset - 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.
  • PandaSet Open Dataset - 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.
  • Jun 30th, 2020

    Datasets

  • CADC - Canadian Adverse Driving Conditions Dataset - Public large-scale dataset for autonomous driving in adverse weather conditions (snowy weather).
  • May 29th, 2020

    Datasets

  • Semantic KITTI - Dataset for semantic and panoptic scene segmentation.
  • Manufacturers

  • Livox - LIDAR manufacturer.
  • May 6th, 2020

    Datasets

  • Ford Dataset - 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.
  • Audi A2D2 Dataset - The dataset features 2D semantic segmentation, 3D point clouds, 3D bounding boxes, and vehicle bus data.
  • Apr 22nd, 2020

    Libraries

  • Point Cloud Library (PCL) - Popular highly parallel programming library, with numerous industrial and research use-cases.
  • Frameworks

  • Autoware - Popular framework in academic and research applications of autonomous vehicles.
  • Simulators

  • OSRF Gazebo - OGRE-based general-purpose robotic simulator, ROS/ROS2 compatible.
  • CARLA - Unreal Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS2.
  • LGSVL - Unity Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS2.
  • Apr 20th, 2020

    Datasets

  • KITTI - Widespread public dataset, pirmarily focusing on computer vision applications, but also contains LIDAR point cloud.
  • Apr 17th, 2020

    Conventions

  • Any list item with a RedCircle πŸ”΄ has YouTube videos or channel
  • Datasets

  • Lyft - Public dataset collected by a fleet of Ford Fusion vehicles equipped with LIDAR and camera.
  • Algorithms

    Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM

  • Cartographer :octocat:stars5.7k - Cartographer is ROS compatible system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
  • Apr 14th, 2020

    Conventions

  • Any list item with an OctoCat :octocat: has a GitHub repo or organization
  • Datasets

  • Oxford RobotCar - The Oxford RobotCar Dataset contains over 100 repetitions of a consistent route through Oxford, UK, captured over a period of over a year.
  • EU Long-term Dataset - 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 MontbΓ©liard in France. The vehicle speed was limited to 50 km/h following the French traffic rules.
  • NuScenes - Public large-scale dataset for autonomous driving.
  • Last Checked At: 2021-10-25T04:29:47.713Z
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