Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels

LiDAR SLAM = FAST-LIO + Scan Context

Advanced implementation of LOAM

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

MicroStrain Communication Library

Ouster, Inc. sample code

A real-time multifunctional Lidar SLAM package.

Myria3D: Aerial Lidar HD Semantic Segmentation with Deep Learning

PDAL is Point Data Abstraction Library. GDAL for point cloud data.

Pyramids of map tiles in a single file on static storage

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

oneAPI Threading Building Blocks (oneTBB)

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.

Real-time 3D localization using a (velodyne) 3D LIDAR

A mapping package for Livox LiDARs

[IROS 2024] A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

ROS Packages for Real-Time 3D LIDAR Based Localization using NDT Scan Matching Algorithm and UKF Estimation

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

ROS Packages for Real-Time 3D LIDAR Based SLAM using NDT Scan Matching Algorithm

ROS driver for all of MicroStrain's current G and C series products. To learn more visit

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

The tight integration of FAST-LIO with Radius-Search-based loop closure module.

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Multi-threaded and SSE friendly NDT algorithm

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization