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 Modular Optimization framework for Localization and mApping (MOLA)

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

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

C++/Python Sparse Volumetric TSDF Fusion

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

A probabilistic voxelmap-based LiDAR-Inertial Odometry.

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) :fire:

[RAL' 25 & IROS‘ 25] MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework.

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

Fast and robust global registration for terrestrial robots @ ICRA2022

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

Use LiDAR to map the static world

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

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

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

[ICCV-2025] TurboReg: TurboClique for Robust and Efficient Point Cloud Registration

Myria3D: Aerial Lidar HD Semantic Segmentation with Deep Learning

Lidar Obstacle Detection

Variants of Vision Transformer and its downstream tasks

Implementation of SqueezeSegV2, Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud

LiDAR fog simulation

[CVPR 2024 Oral, Best Paper Award Candidate] Official repository of "PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness"

LiDAR snowfall simulation