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

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

A LiDAR odometry pipeline that just works

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

A LiDAR odometry pipeline for wheeled mobile robots

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

SNAP: Self-supervised Neural Maps for Visual Positioning and Semantic Understanding (NeurIPS 2023)

A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search. Run on Jetson Orin NX 8GB.

A rolling voxel grid implementation of Bonxai to handle large maps in ROS 2

Open-source platform for GPS-anchored 3D mapping using crowdsourced mobile scans

[ROS2 humble] Convert 3D LiDAR map to 2D Occupancy Grid Map

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

A tool to automatically create 3D mappings of lights from two videos

[ICCV 2025] Official Implementation of "Online Language Splatting"

ROS-Noetic monocular-SLAM with A* path-planner for autonomous UAVs in unknown 3D environments

3D GIS SDK for MGP engine

High performance volumetric occupancy and TSDF mapping

Yahboom ROS Transbot Robot with Lidar Depth camera support MoveIt 3D mapping for Nvidia Jetson NANO 4GB B01

Crafting 3D maps of Antarctica with PyGMT and the new IBCSO V2 data

A lightweight and customizable web GIS platform for the state of Goa, India. Designed as a community maintained tool for hyperlocal spatial data exploration and decision making.

This is the official repository of LiLi-OM, a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

3D Mapping using 2D LiDAR

The goal of this project is to build a robot capable of mapping its environment in a 3D simulation view. It uses a neural network for depth estimation deployed on a Jetson Nano. The Jetson is also connected to an Arduino Nano to get the gyro data from its IMU to project the depth values in a 3D world based on the orientation of the robot.

Implementation of 3D mapping using Kinect and RGB-D Camera sensors in an indoor environment. Real-time appearance-based mapping (RTAB-Map) was used to make the 3D map simulated in the Gazebo environment.