C++ (or C) Lidar Resources

LIMO-Velo [Alpha] 🔴 [16 February 2022] 🔴 The project is on alpha stage, so be sure to open Issues and Discussions and give all the feedback you can!

VDBFusion: Flexible and Efficient TSDF Integration This is a small utility library that implements the VDBFusion algorithm, similar to TSDF-based reco

lidar_camera_calibrator lidar_camera_calibrator is a semi-automatic, high-precision, feature-based camera and LIDAR extrinsic calibration tool. In gen

Livox-LiDAR-Camera System Simulator A package to provide plug-in for Livox Series LiDAR. This work is inherited from EpsAvlc and LvFengchi's work: liv

R3LIVE A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package News [Dec 31, 2021] Release of cod

Lidar with Velocity A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud. This repository is a barebones implementati

Livox-Mapping This repository implements an all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR. The system is developed based

livox_cloud_undistortion This project is used for lidar point cloud undistortion. During the recording process, the lidar point cloud has naturally th

mcl_ros About mcl_ros mcl_ros is a ROS package for mobile robot localization with 2D LiDAR. To implement localization, Monte Carlo localization (MCL)

🤖 RoboCop 🤖 Small Robot, with LIDAR and DepthCamera. Using ROS for Maping and Navigation Made by Clemente Donoso, 📍 Chile 🇨🇱 RoboCop Lateral Fron

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds DLO is a lightweight and computationally-efficient frontend LiDAR odometry solution w

DSP-SLAM Project Page | Video | Paper This repository contains code for DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint

W-LOAM A ros package for robust odometry and mapping using LiDAR with aid of different sensors Demo Video https://www.bilibili.com/video/BV1Fy4y1L7kZ?

CT-ICP: Elastic SLAM for LiDAR sensors This repository implements the SLAM CT-ICP (see our article), a lightweight, precise and versatile pure LiDAR o

Camera-LiDAR Calibration This package estimates the calibration parameters that transforms the camera frame (parent) into the lidar frame (child). We

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

Localization using ICP in a known map Overview This package localizes the lidar sensor in a given map using the ICP algorithm. It subscribes to lidar

NAVER LABS Indoor dataset - LiDAR API These dataset are obtained in realistic department store environments! [Paper] [Related Video] (This demo video

imu_lidar_calibration Target-free Extrinsic Calibration of a 3D Lidar and an IMU Overview This repository is a toolkit for calibrating the 6-DoF rigid

fusion-lidar-camera-ROS 一、介绍 本仓库是一个ROS工作空间，其中ws_fusion_camera/src有一个工具包color_pc ws_fusion_camera │ README.md │ └───src │ └───package: c

pc2image This code converts a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor into a depth image mono16. Requisites ROS Kinetic or Melodic Ve

LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and plane points)

PointCloud on Image The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera. Th

LVI-SAM-MODIFIED This repository is a modified version of LVI-SAM. Modification Add function to get extrinsic parameters.The original code assumes the

expend_lidar_camera_calib This work is an expend version of livox_camera_calib, which is suitable for spinning LiDAR。 In order to apply this algorithm

SC-LeGO-LOAM NEWS (Nov, 2020) A Scan Context integration for LIO-SAM, named SC-LIO-SAM (link), is also released. Real-time LiDAR SLAM: Scan Context (1

Divide-and-Merge-LiDAR-Panoptic-Cluster A demo video of our method with semantic prior: More information will be coming soon! As a PhD student, I don'

An implementation on "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. https://doi.org/10.3390/rs13163239"

Livox LiDAR-Camera Calibration This method is from the official method of Livox(https://github.com/Livox-SDK/livox_camera_lidar_calibration) It's just

SC-TLOAM What is SC-TLOAM? A real-time LiDAR SLAM package that integrates TLOAM and ScanContext. TLOAM for odometry. ScanContext for coarse global loc

SC-FLOAM What is SC-FLOAM? A real-time LiDAR SLAM package that integrates FLOAM and ScanContext. FLOAM for odometry (i.e., consecutive motion estimati

LVIO-SAM A multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR, stereo camera and inertial measurement unit (IMU) via smoothing and mapping. The

Realtime 3D global localization in a pre-built point cloud map. By fusing low-frequency global localization (about 0.5~0.2Hz), and high-frequency odometry from FAST-LIO, the entire system is computationally efficient.

stairs_recogniton Recognize stairs with lidar. Project the laser points to X-Z plane and use least squares for linear fitting. Dependencies PCL 1.8 Ei

LIO-Livox (A Robust LiDAR-Inertial Odometry for Livox LiDAR) This respository implements a robust LiDAR-inertial odometry system for Livox LiDAR. The

LT-mapper News July 2021 A preprint manuscript is available (download the preprint). LT-SLAM module is released.

IA-LIO-SAM Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is

A ROS-based NDT localizer with multi-sensor state estimation This repo is a ROS based multi-sensor robot localisation. An NDT localizer is loosely-cou

Patchwork Official page of "Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor

Livox Laser Simulation A package to provide plug-in for Livox Series LiDAR. Requirements ROS(=Melodic) Gazebo (= 9.x, http://gazebosim.org/) Ubuntu(=1

The open-source tool for creating of 3D models

R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.

FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Comparisons of Running Time of Our Method with SOTA methods RandLA and KPConv:

This model is a highly parameterizable generic perception sensor and tracking model. It can be parameterized as a Lidar or a Radar. The model is based on object lists and all modeling is performed on object level.

Mapping-base-lidar-pose-or-vslam-pose I simply modified the colmap,when it reconstructs from known pose ,only let it optimize rotation ,fixing positio

SC-A-LOAM What is SC-A-LOAM? A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext. A-LOAM for odometry (i.e., consecutive motion esti

Livox Laser Simulation A package to provide plug-in for Livox Series LiDAR.

LVI-SAM This repository contains code for a lidar-visual-inertial odometry and mapping system, which combines the advantages of LIO-SAM and Vins-Mono

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first.

livox_camera_calib livox_camera_calib is a robust, high accuracy extrinsic calibration tool between high resolution LiDAR (e.g. Livox) and camera in t

SSL_SLAM2 Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example) This repo is an extension work of SSL_SL

Robust Place Recognition using an Imaging Lidar A place recognition package using high-resolution imaging lidar. For best performance, a lidar equippe