The PyTorch Implementation based on YOLOv4 of the paper: "Complex-YOLO: Real-time 3D Object Detection on Point Clouds"

KITTI Object Visualization (Birdview, Volumetric LiDar point cloud )

Super Fast and Accurate 3D Object Detection based on 3D LiDAR Point Clouds (The PyTorch implementation)

Rank 1st in the leaderboard of SemanticKITTI semantic segmentation (both single-scan and multi-scan) (Nov. 2020) (CVPR2021 Oral)

A list of references on lidar point cloud processing for autonomous driving

This repository provides implementation of an incremental k-d tree for robotic applications.

A Modular Optimization framework for Localization and mApping (MOLA)

Implementation of SqueezeSeg, convolutional neural networks for LiDAR point clout segmentation

C++/Python Sparse Volumetric TSDF Fusion

Tool for convert files into Magicavoxel file

Official page of ERASOR (Egocentric Ratio of pSeudo Occupancy-based Dynamic Object Removal), which is accepted @ RA-L'21 with ICRA'21

Intensity-based_Lidar_Camera_Calibration

2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds (ECCV 2022) 🔥

A probabilistic voxelmap-based LiDAR-Inertial Odometry.

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

Use LiDAR to map the static world

Fast and robust global registration for terrestrial robots @ ICRA2022

The official implementation for "Spherical Transformer for LiDAR-based 3D Recognition" (CVPR 2023).

C++ library and programs for reading and writing ASPRS LAS format with LiDAR data

Implementation for CenterFormer: Center-based Transformer for 3D Object Detection (ECCV 2022)