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😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.
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Feb 14, 2023
Algorithms / Basic matching algorithms
- Iterative closest point (ICP) 🔴 - The must-have algorithm for feature matching applications (ICP).
- GitHub repository 🐙 (⭐159) - simpleICP C++ /Julia / Matlab / Octave / Python implementation.
- GitHub repository 🐙 (⭐1.4k) - libpointmatcher, a modular library implementing the ICP algorithm.
- Paper 📰 - libpointmatcher: Comparing ICP variants on real-world data sets.
- KISS-ICP 🔴 - In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way.
Dec 11, 2022
Algorithms / Semantic segmentation
- RandLA-Net 📰 - Efficient Semantic Segmentation of Large-Scale Point Clouds
- Automatic labelling 📰 - Automatic labelling of urban point clouds using data fusion
Oct 19, 2022
Algorithms / Ground segmentation
- Plane Seg 🐙 (⭐121) - ROS comapatible ground plane segmentation; a library for fitting planes to LIDAR.
- LineFit Graph 📰- Line fitting-based fast ground segmentation for horizontal 3D LiDAR data
- Patchwork 📰- Region-wise plane fitting-based robust and fast ground segmentation for 3D LiDAR data
- Patchwork++ 📰- Improved version of Patchwork. Patchwork++ provides pybinding as well for deep learning users
Sep 08, 2022
Datasets
- Boreas Dataset - 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.
Aug 15, 2022
Datasets
- Argoverse 🐙 - A dataset designed to support autonomous vehicle perception tasks including 3D tracking and motion forecasting collected in Pittsburgh, Pennsylvania and Miami, Florida, USA.
Aug 03, 2022
Manufacturers
- Aeva - 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.
Aug 02, 2022
Datasets
- Brno Urban Dataset 🐙 (⭐128) - Navigation and localisation dataset for self driving cars and autonomous robots in Brno, Czechia.
Jul 12, 2022
Related awesome / Object detection and object tracking
May 16, 2022
Others / Object detection and object tracking
- Foxglove - 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 - MeshLab is an open source, portable, and extensible system for the processing and editing 3D triangular meshes and pointcloud.
Jan 18, 2022
Algorithms / Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM
- Removert 📰 - Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images.
Algorithms / Object detection and object tracking
- urban_road_filter 📰- Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles
Jan 05, 2022
Algorithms / Semantic segmentation
- SuperPoint Graph 📰- Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs
Related awesome / Object detection and object tracking
Nov 22, 2021
Algorithms / Semantic segmentation
- LIDAR-MOS 📰 - Moving Object Segmentation in 3D LIDAR Data
Nov 18, 2021
Datasets
- USyd Dataset- The Univerisity of Sydney Campus- Dataset - 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
Oct 21, 2021
Others / Object detection and object tracking
- ARHeadsetKit (⭐87) - Using $5 Google Cardboard to replicate Microsoft Hololens. Hosts the source code for research on scene color reconstruction (⭐19).
Jun 14, 2021
Libraries
- pointcloudset - Python library for efficient analysis of large datasets of point clouds recorded over time.
Apr 27, 2021
Others / Object detection and object tracking
- CloudCompare - CloudCompare is a free, cross-platform point cloud editor software.
Apr 09, 2021
Others / Object detection and object tracking
- Semantic Segmentation Editor 🐙 (⭐1.5k) - Point cloud and image semantic segmentation editor by Hitachi Automotive And Industry Laboratory, point cloud annotator / labeling.
- 3D Bounding Box Annotation Tool 🐙 (⭐449) - 3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams, point cloud annotator / labeling.
Feb 12, 2021
Datasets
- Audi A2D2 Dataset - The dataset features 2D semantic segmentation, 3D point clouds, 3D bounding boxes, and vehicle bus data.
Feb 03, 2021
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 22, 2021
Simulators / Object detection and object tracking
- AirSim - Unreal Engine based simulator for drones and automotive. Compatible with ROS.
Related awesome / Object detection and object tracking
Jan 07, 2021
Algorithms / Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM
- LIO-SAM 📰 - Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
Others / Object detection and object tracking
- Bpy 🐙 (⭐793) - Point cloud importer/renderer/editor for Blender, Point Cloud visualizer.
- Photogrammetry importer 🐙 (⭐640) - Blender addon to import reconstruction results of several libraries.
Dec 23, 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.
- 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.
Dec 22, 2020
Others / Object detection and object tracking
- Pcx 🐙 (⭐1.2k) - Point cloud importer/renderer for Unity.
Dec 21, 2020
Datasets
- Semantic KITTI - Dataset for semantic and panoptic scene segmentation.
Libraries
- Point Cloud Library (PCL) - Popular highly parallel programming library, with numerous industrial and research use-cases.
- PyTorch Geometric 📰 - A geometric deep learning extension library for PyTorch.
- PyTorch3d - PyTorch3d is a library for deep learning with 3D data written and maintained by the Facebook AI Research Computer Vision Team.
- pyntcloud - Pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack.
Frameworks
- Baidu Apollo - Apollo is a popular framework which accelerates the development, testing, and deployment of Autonomous Vehicles.
Algorithms / Semantic segmentation
- RangeNet++ 📰 - Fast and Accurate LiDAR Sematnic Segmentation with fully convolutional network.
- PolarNet 📰 - An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation.
- Frustum PointNets 📰 - Frustum PointNets for 3D Object Detection from RGB-D Data.
- 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
- LeGO-LOAM 🐙 (⭐1.9k) - A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs.
- Cartographer 🐙 (⭐6.4k) - Cartographer is ROS compatible system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
- SuMa++ 📰 - LiDAR-based Semantic SLAM.
- OverlapNet 📰 - Loop Closing for LiDAR-based SLAM.
Algorithms / Object detection and object tracking
- Learning to Optimally Segment Point Clouds 📰 - 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 📰 - 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 📰 - By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019.
Simulators / Object detection and object tracking
- CoppeliaSim - Cross-platform general-purpose robotic simulator (formerly known as V-REP).
- 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.
Nov 17, 2020
Manufacturers
- SICK - Sensor and automation manufacturer, the headquarter is located in Waldkirch, Germany.
Nov 16, 2020
Manufacturers
- Pioneer - LIDAR manufacturer, specializing in MEMS mirror-based raster scanning LiDARs (3D-LiDAR). Pioneer is headquartered in Tokyo, Japan.
- 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.
- Blickfeld - Blickfeld is a solid-state LIDAR manufacturer for autonomous mobility and IoT, based in München, Germany.
- Neuvition - Neuvition is a solid-state LIDAR manufacturer based in Wujiang, China.
Others / Object detection and object tracking
- Pointcloudprinter 🐙 (⭐141) - A tool to turn point cloud data from aerial lidar scans into solid meshes for 3D printing.
Nov 05, 2020
Libraries
- Kaolin - Kaolin is a PyTorch Library for Accelerating 3D Deep Learning Research written by NVIDIA Technologies for game and application developers.
- PyVista - 3D plotting and mesh analysis through a streamlined interface for the Visualization Toolkit.
Algorithms / Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM
- LOAM J. Zhang and S. Singh 🔴 - LOAM: Lidar Odometry and Mapping in Real-time.
Oct 01, 2020
Manufacturers
- Innoviz - Innoviz technologies / specializes in solid-state LIDARs.
- 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.
Sep 08, 2020
Datasets
- CADC - Canadian Adverse Driving Conditions Dataset - Public large-scale dataset for autonomous driving in adverse weather conditions (snowy weather).
- 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.
Libraries
- Open3D library - Open3D library contanins 3D data processing and visualization algorithms. It is open-source and supports both C++ and Python.
Frameworks
- Autoware - Popular framework in academic and research applications of autonomous vehicles.
Algorithms / Basic matching algorithms
- Normal distributions transform 🔴 - More recent massively-parallel approach to feature matching (NDT).
Sep 07, 2020
Conventions
- Any list item with a Paper 📰 has a scientific paper or detailed description
Aug 25, 2020
Manufacturers
- Ibeo - Ibeo Automotive Systems GmbH is an automotive industry / environmental detection laserscanner / LIDAR manufacturer, based in Hamburg, Germany.
Jul 21, 2020
Manufacturers
- 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).
Datasets
- Waymo Open Dataset - The dataset contains independently-generated labels for lidar and camera data, not simply projections.
- 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.
Simulators / Object detection and object tracking
- OSRF Gazebo - OGRE-based general-purpose robotic simulator, ROS/ROS2 compatible.
Jun 30, 2020
Manufacturers
- Hokuyo - Sensor and automation manufacturer, headquartered in Osaka, Japan.
- Luminar - LIDAR manufacturer focusing on compact, auto-grade sensors. Luminar is headquartered Palo Alto, California, USA.
May 29, 2020
Manufacturers
- Livox - LIDAR manufacturer.
Apr 20, 2020
Datasets
- KITTI - Widespread public dataset, pirmarily focusing on computer vision applications, but also contains LIDAR point cloud.
Apr 17, 2020
Conventions
- Any list item with a RedCircle 🔴 has YouTube videos or channel
Datasets
- Lyft - Public dataset collected by a fleet of Ford Fusion vehicles equipped with LIDAR and camera.
Apr 14, 2020
Conventions
- Any list item with an OctoCat 🐙 has a GitHub repo or organization
Manufacturers
- Velodyne - 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.
- Ouster - LIDAR manufacturer, specializing in digital-spinning LiDARs. Ouster is headquartered in San Francisco, USA.
Datasets
- 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 Montbéliard in France. The vehicle speed was limited to 50 km/h following the French traffic rules.