Broad-sky

cartographer

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

mmdetection3d

OpenMMLab's next-generation platform for general 3D object detection.

VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

OpenPCDet

OpenPCDet Toolbox for LiDAR-based 3D Object Detection.

LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

BEVFormer

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

SensorsCalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

Lidar_AI_Solution

A project demonstrating Lidar related AI solutions, including three GPU accelerated Lidar/camera DL networks (PointPillars, CenterPoint, BEVFusion) and the related libs (cuPCL, 3D SparseConvolution, YUV2RGB, cuOSD,).

Awesome-LiDAR-Camera-Calibration

A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes

autoware.universe

lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

image_pipeline

An image processing pipeline for ROS.

kitti2bag

Convert KITTI dataset to ROS bag file the easy way!

velo2cam_calibration

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.

SLAM-application

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

CUDA-PointPillars

A project demonstrating how to use CUDA-PointPillars to deal with cloud points data from lidar.

LIO-SAM-DetailedNote

LIO-SAM源码详细注释，3D SLAM融合激光、IMU、GPS

livox_camera_lidar_calibration

Calibrate the extrinsic parameters between Livox LiDAR and camera

rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2

cam_lidar_calibration

(ITSC 2021) Optimising the selection of samples for robust lidar camera calibration. This package estimates the calibration parameters from camera to lidar frame.

lidar-slam-detection

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

PointPillars_MultiHead_40FPS

A REAL-TIME 3D detection network [Pointpillars] compiled by CUDA/TensorRT/C++.

EA-LSS

EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detection

cam_lidar_calib

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

velo2cam_gazebo

Repository including Gazebo models, plugins and worlds to test calibration algorithms for Lidar-camera setups.

ros-kitti-project

EasyPointPillars

easy and simple way to train, export and deploy pointpillars for 3D detection

multi_lidar_calibration

Multi lidar calibration tool from autoware, using NDT algorithm, need a approximate initial transformation